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posted on 28.04.2020by Krzysztof Blachut, Hubert Szolc, Mateusz Wasala, Tomasz Kryjak, Marek Gorgon
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.