LiU Electronic Press
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Author:
Merz, Torsten (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group )
Duranti, Simone (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group )
Conte, Gianpaolo (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab)
Title:
Autonomous landing of an unmanned helicopter based on vision and inertial sensing
Department:
Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the 9th International Symposium on Experimental Robotics
Editor:
Marcelo H. Ang and Oussama Khatib
Publisher: Springer
Series:
Springer Tracts in Advanced Robotics, ISSN 1610-7438; 21
Volume:
21
Pages:
343-352
Year of publ.:
2006
URI:
urn:nbn:se:liu:diva-50036
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-50036
ISBN:
978-3-540-28816-9
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Abstract(en) :

In this paper we propose an autonomous precision landing method for an unmanned helicopter based on an on-board visual navigation system consisting of a single pan-tilting camera, off-the-shelf computer hardware and inertial sensors. Compared to existing methods, the system doesn't depend on additional sensors (in particular not on GPS), offers a wide envelope of starting points for the autonomous approach, and is robust to different weather conditions. Helicopter position and attitude is estimated from images of a specially designed landing pad. We provide results from both simulations and flight tests, showing the performance of the vision system and the overall quality of the landing. © Springer-Verlag Berlin/Heidelberg 2006.

Available from:
2009-10-11
Created:
2009-10-11
Last updated:
2011-03-08
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