TY  - JOUR
AB  - Purpose The purpose of this paper is to facilitate autonomous landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving/tilting platform using a robust vision-based approach.Design/methodology/approach Autonomous landing of a multi-rotor UAV on a moving or tilting platform of unknown orientation in a GPS-denied and vision-compromised environment presents a challenge to common autopilot systems. The paper proposes a robust visual data processing system based on targets’ Oriented FAST and Rotated BRIEF features to estimate the UAV’s three-dimensional pose in real time.Findings The system is able to visually locate and identify the unique landing platform based on a cooperative marker with an error rate of 1° or less for all roll, pitch and yaw angles.Practical implications The proposed vision-based system aims at on-board use and increased reliability without a significant change to the computational load of the UAV.Originality/value The simplicity of the training procedure gives the process the flexibility needed to use a marker of any unknown/irregular shape or dimension. The process can be easily tweaked to respond to different cooperative markers. The on-board computationally inexpensive process can be added to off-the-shelf autopilots.
VL  - 7
IS  - 3
SN  - 2049-6427
DO  - 10.1108/IJIUS-10-2018-0030
UR  - https://doi.org/10.1108/IJIUS-10-2018-0030
AU  - Gupta Kashish
AU  - Emran Bara Jamal
AU  - Najjaran Homayoun
PY  - 2019
Y1  - 2019/01/01
TI  - Vision-based pose estimation of a multi-rotor unmanned aerial vehicle
T2  - International Journal of Intelligent Unmanned Systems
PB  - Emerald Publishing Limited
SP  - 120
EP  - 132
Y2  - 2024/05/09
ER  -