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Vision-based Navigation for Autonomous Landing System

机译：基于视觉的自主登陆系统导航

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In this paper, autonomous landing system for unmanned air vehicles (UAVs) based on visual navigation is presented. Two main problems are given with proposed solutions, including autonomous landing system architecture based on Robot Operating System (ROS) and vision algorithm for realtime landing platform detection and pose estimation. Our system was fully implemented on on-board computer and monocular camera equipped on UAVs. Gazebo Simulator with Iris quad-copter model was used for rapidly testing about vision-based and control algorithm. Also, a series of autonomous flight tests are successfully performed for common scenarios with static and moving targets. Obtained results will be verified via normal flight sensors for guaranteeing qualities of our autonomous landing system.
机译：本文介绍了基于视觉导航的无人驾驶飞行器（无人机）的自主着陆系统。提出了两个主要问题，提出了基于机器人操作系统（ROS）和实时着陆平台检测和姿势估计的自动着陆系统架构。我们的系统在板载计算机上充分实现，并在无人机上装备单目相机。具有虹膜Quad-Copter模型的凉亭模拟器用于快速测试视觉和控制算法。此外，成功地对具有静态和移动目标的常见场景进行了一系列自主飞行测试。将通过正常飞行传感器验证获得的结果，以保证我们自治着陆系统的质量。

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