Autonomous Landing of an Unmanned Helicopter based on Vision and Inertial Sensing

  • Torsten Merz
  • Simone Duranti
  • Gianpaolo Conte
IX. Flying Robots

DOI: 10.1007/11552246_33

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 21)
Cite this paper as:
Merz T., Duranti S., Conte G. (2006) Autonomous Landing of an Unmanned Helicopter based on Vision and Inertial Sensing. In: Ang M.H., Khatib O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg

Abstract

In this paper we propose an autonomous precision landing method for an unmanned helicopter based on an on-board visual navigation system consisting of a single pan-tilting camera, off-the-shelf computer hardware and inertial sensors. Compared to existing methods, the system doesn’t depend on additional sensors (in particular not on GPS), offers a wide envelope of starting points for the autonomous approach, and is robust to different weather conditions. Helicopter position and attitude is estimated from images of a specially designed landing pad. We provide results from both simulations and flight tests, showing the performance of the vision system and the overall quality of the landing.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Torsten Merz
    • 1
  • Simone Duranti
    • 1
  • Gianpaolo Conte
    • 1
  1. 1.Department of Computer and Information Science Linköping University, SE-58183 LinköpingSweden

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