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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...
This paper addresses a method to implement an ad-hoc network for inter-vehicle communication of multiple UAVs. During cooperative missions, it is essential to share information between different UAVs. The ad-hoc network provides greater autonomy to the team of UAVs because it is free of intervention of ground stations. The challenges we consider for implementing inter-vehicle communication are including...
A vision-based terrain referenced navigation (TRN) system is addressed for autonomous navigation of unmanned aerial vehicles (UAVs). A typical TRN algorithm blends inertial navigation data with measured terrain information to estimate vehicle’s position. In this paper, however, we replace the low-cost inertial navigation system (INS) with a monocular vision system. The homography decomposition algorithm...
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