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In this study, we focus on the problem of landing an unmanned aerial vehicle (UAV) in unknown and Global Navigation Satellite System(GNSS)-denied environments based on an infrared stereo vision system. This system is fixed on the ground and used to track the UAV's position during the landing process. In order to enlarge the search field of view (FOV), a pan-tilt unit (PTU) is employed to actuate the vision system. The infrared camera is chosen as the exteroceptive sensor for two main reasons:doi:10.1109/iros.2013.6696776 dblp:conf/iros/KongZWXZ13 fatcat:uo5ojsri2bhrfeiziwqacdeuyq