Abstract
Most of the landing systems are based on GPS and radar altimeter, sonar, infrared. But in urban environments buildings and other obstacles disturb the GPS signal and can even cause loss of signal. In such case it will be beneficial to have independent control of navigation and landing assistance system. So the main aim is to design a software system that will assist helicopter or Unmanned Aerial Vehicle accurately under all-weather. The software system takes height parameter and images from helicopter or Unmanned Aerial Vehicle as an input. After applying number of processing techniques like edge detection, RGB to Gray scale on the image, the image is compared with the HSV dataset to find the free space. For edge detection Canny edge detection algorithm is used. From the number of free spaces nearest patch is selected by taking vehicle dimension and landing orientation of the vehicle into consideration. Performance of the system depends on the accuracy and the speed of the system. This system also resolves the potentially dangerous problem of GPS denial.
Highlights
The specific task focused in this paper is the landing of an Unmanned Aerial Vehicle or helicopter in an uncontrolled environment
Many autonomous landing systems for Unmanned Aerial Vehicles (UAVs) and helicopters are based on GPS and a dedicated close range sensor for accurate altitude measurement
In this paper the design and implementation of a real-time computer vision system for a rotorcraft unmanned aerial vehicle to land onto a known landing target is presented
Summary
The specific task focused in this paper is the landing of an Unmanned Aerial Vehicle or helicopter in an uncontrolled environment. In this situation, landing site cannot be carefully preselected. Due to power constraints and the desire to avoid detection we do not use radar or other active range sensing devices. Instead of this we propose a method for autonomous landing based on principles of computer vision. Many autonomous landing systems for Unmanned Aerial Vehicles (UAVs) and helicopters are based on GPS and a dedicated close range sensor for accurate altitude measurement (radar altimeter, sonar, infrared). The overall landing system consists of a low-level vision subsystem which recovers a ground elevation map, a map building component which classifies ground objects using appearance and the recovered topography, and a high-level navigation system for specifying way-points to the desired landing target
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