Camera Assisted Autonomous UAV Landing

Mainak Mondal, Stanislav Shidlovskiy, Dmitriy Shashev
2020 Proceedings of the 30th International Conference on Computer Graphics and Machine Vision (GraphiCon 2020). Part 2  
This article describes the use of a monocular camera attached to a multirotor perpendicular to the horizon, to recognize visual cues or artefacts (AprilTag) and use it as an anchor for aerial alignment to finally land on it, thus attempting to make autonomous flights safer and usable in slightly hard-to-reach locations. A Hexacopter frame with the DJI N3 flight controller was used for prototyping and realizing the desired algorithm. Factors like wind speed and gusts were taken into account as
more » ... n into account as well as the center of gravity of the multirotor and the position of the molecular camera attached to the copter facing downwards or at a 90-degree angle. The results of the experiments conducted were verified against existing methods like the GPS (Global Positioning System) waypoint mission provided by major commercial Unmanned Aerial Vehicle(UAV) or Flight Controller manufacturers and were also compared to experimental methods presented in related research articles, fairing excellent results
doi:10.51130/graphicon-2020-2-3-82 fatcat:bav6mjaf6zemjgemyz7gyctyva