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The robust marker tracking and relative navigation algorithms are presented for precise UAV vision-based autonomous landing. To recognize the marker in close-range, the concentric circles are adopted as the marker with ellipse fitting algorithm based on Direct Least Square. We assume that IMU provides vehicle's attitude and altitude so that we consider GPS-denied situation. Also multiple ellipses...
In this paper, we studied for the ellipse fitting problem when an unmanned aerial vehicle (UAV) reaches near a landing marker for vision-based autonomous landing. Due to limited field of view of a camera, the entire shape of the landing marker cannot be captured as the vehicle approaches it. Also, depending on the vehicle's pose, the shape of the maker is shown distortedly. In order to overcome these...
A vision-only navigation system is addressed for autonomous navigation of unmanned aerial vehicles (UAVs) with monocular camera as the only sensor. Typical vision-based navigation algorithms blend inertial navigation data with vision measurements and other available information to estimate vehicle's position. In this paper, however, we propose an approach that replaces the high-cost inertial navigation...
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