TechRxiv
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Vision based hardware-software real-time control system for autonomous landing of an UAV

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posted on 28.04.2020, 20:01 by 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.

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Email Address of Submitting Author

tomasz.kryjak@agh.edu.pl

ORCID of Submitting Author

0000-0001-6798-4444

Submitting Author's Institution

AGH University of Science and Technology

Submitting Author's Country

Poland

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