Autonomous Approach and Landing for a Low-Cost Quadrotor Using Monocular Cameras

Deitsch S, Gallwitz F, Angelopoulou E (2014)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2014

Publisher: Springer International Publishing

Series: Lecture Notes in Computer Science

City/Town: Cham

Book Volume: 8925

Pages Range: 209-222

Conference Proceedings Title: Computer Vision - ECCV 2014 Workshops

Event location: Zürich CH

ISBN: 978-3-319-16177-8

URI: https://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2014/Dotenco14-AAA.pdf

DOI: 10.1007/978-3-319-16178-5_14

Abstract

In this paper, we propose a monocular vision system for approach and landing using a low-cost micro aerial vehicle (MAV). The system enables an off-the-shelf Parrot AR.Drone 2.0 quadrotor MAV to autonomously detect a landpad, approach it, and land on it. Particularly, we exploit geometric properties of a circular landpad marker in order to estimate the exact flight distance between the quadrotor and the landing spot. We then employ monocular simultaneous localization and mapping (SLAM) to fly towards the landpad while accurately following a trajectory. Notably, our system does not require the landpad to be located directly underneath the MAV.

Authors with CRIS profile

Sergiu Deitsch Lehrstuhl für Informatik 14 (Bild- und Sprachverarbeitung) Elli Angelopoulou Lehrstuhl für Informatik 14 (Bild- und Sprachverarbeitung)

Involved external institutions

Technische Hochschule Nürnberg "Georg Simon Ohm" DE Germany (DE)

How to cite

APA:

Deitsch, S., Gallwitz, F., & Angelopoulou, E. (2014). Autonomous Approach and Landing for a Low-Cost Quadrotor Using Monocular Cameras. In Agapito L., Bronstein M., Rother C. (Eds.), Computer Vision - ECCV 2014 Workshops (pp. 209-222). Zürich, CH: Cham: Springer International Publishing.

MLA:

Deitsch, Sergiu, Florian Gallwitz, and Elli Angelopoulou. "Autonomous Approach and Landing for a Low-Cost Quadrotor Using Monocular Cameras." Proceedings of the European Conference on Computer Vision, Zürich Ed. Agapito L., Bronstein M., Rother C., Cham: Springer International Publishing, 2014. 209-222.

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