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A Vision Based Hardware-Software Real-Time Control System for the Autonomous Landing of an UAV

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Computer Vision and Graphics (ICCVG 2020)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 12334))

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Abstract

In this paper we present a vision based hardware-software control system enabling the autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows for the detection of a marked landing pad in real-time for a 1280 \(\times \) 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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Notes

  1. 1.

    This is the same code as used in the software model [9].

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Acknowledgement

The work was supported by the Dean grant for young researches (first, second and third author) and AGH project number 16.16.120.773. The authors would like to thank Mr. Jakub Kłosiński, who during his bachelor thesis started the research on landing spot detection and Mr. Miłosz Mach, who was the initial constructor of the used drone.

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Authors and Affiliations

  1. Embedded Vision Systems Group, Computer Vision Laboratory Department of Automatic Control and Robotics, AGH University of Science and Technology, Krakow, Poland

    Krzysztof Blachut, Hubert Szolc, Mateusz Wasala, Tomasz Kryjak & Marek Gorgon

Authors
  1. Krzysztof Blachut
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  2. Hubert Szolc
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  3. Mateusz Wasala
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  4. Tomasz Kryjak
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  5. Marek Gorgon
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Corresponding author

Correspondence to Tomasz Kryjak .

Editor information

Editors and Affiliations

  1. Institute of Information Technology, Warsaw University of Life Sciences - SGGW, Warsaw, Poland

    Leszek J. Chmielewski

  2. Institute of Information Technology, Warsaw University of Life Sciences - SGGW, Warsaw, Poland

    Ryszard Kozera

  3. Institute of Information Technology, Warsaw University of Life Sciences - SGGW, Warsaw, Poland

    Arkadiusz Orłowski

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Blachut, K., Szolc, H., Wasala, M., Kryjak, T., Gorgon, M. (2020). A Vision Based Hardware-Software Real-Time Control System for the Autonomous Landing of an UAV. In: Chmielewski, L.J., Kozera, R., Orłowski, A. (eds) Computer Vision and Graphics. ICCVG 2020. Lecture Notes in Computer Science(), vol 12334. Springer, Cham. https://doi.org/10.1007/978-3-030-59006-2_2

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  • DOI: https://doi.org/10.1007/978-3-030-59006-2_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-59005-5

  • Online ISBN: 978-3-030-59006-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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