A vision system for landing an unmanned helicopter in a complex environment

Haiqing Shi; Hong Wang

doi:10.1117/12.832009

30 October 2009 A vision system for landing an unmanned helicopter in a complex environment

Haiqing Shi, Hong Wang

Proceedings Volume 7496, MIPPR 2009: Pattern Recognition and Computer Vision; 74962G (2009) https://doi.org/10.1117/12.832009
Event: Sixth International Symposium on Multispectral Image Processing and Pattern Recognition, 2009, Yichang, China

Abstract

We present a vision-based landing algorithm for an autonomous helicopter under complex environment (there are several suspected targets). The algorithm is integrated with algorithms for visual acquisition, recognition of the target and computing the navigation information. In our algorithm, we use international standard landing mark as our landing target. The experiment results demonstrate that our algorithm has the feature of robustness, accuracy and real time. It can meet the actual flight requirements well: the average processing time of a 640×480 image is less than 40ms; the position error is below 5cm in each axis of translation; the angle error is below 3.5°. Based on the algorithm, we win the champion of the aerial robot competition in the 2008 China robot competition and the RoboCup China open.

Citation Download Citation

Haiqing Shi and Hong Wang "A vision system for landing an unmanned helicopter in a complex environment", Proc. SPIE 7496, MIPPR 2009: Pattern Recognition and Computer Vision, 74962G (30 October 2009); https://doi.org/10.1117/12.832009

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available