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Vision based hardware-software real-time control system for autonomous landing of an UAV
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  • Krzysztof Blachut ,
  • Hubert Szolc ,
  • Mateusz Wasala ,
  • Tomasz Kryjak ,
  • Marek Gorgon
Krzysztof Blachut
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Hubert Szolc
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Mateusz Wasala
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Tomasz Kryjak
AGH University of Science and Technology

Corresponding Author:[email protected]

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Marek Gorgon
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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.