Vision based hardware-software real-time control system for autonomous
landing of an UAV
Abstract
In this paper we present a vision based hardware-software control system
enabling autonomous landing of a mul-tirotor unmanned aerial vehicle
(UAV). It allows the detection of a marked landing pad in real-time for
a 1280 x 720 @ 60 fps video stream. In addition, a LiDAR sensor is used
to measure the altitude above ground. A heterogeneous Zynq SoC device is
used as the computing platform. The solution was tested on a number of
sequences and the landing pad was detected with 96% accuracy. This
research shows that a reprogrammable heterogeneous computing system is a
good solution for UAVs because it enables real-time data stream
processing with relatively low energy consumption.