Autonomous Landing of an Unmanned Helicopter based on Vision and Inertial Sensing

13 years 10 months ago

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In this paper, we propose an autonomous precision landing method for an unmanned helicopter based on an on-board visual navigation system consisting of a single pan-tilting camera, oﬀ-the-shelf computer hardware and inertial sensors. Compared to existing methods, the system doesn’t depend on additional sensors (in particular not on GPS), oﬀers a wide envelope of starting points for the autonomous approach, and is robust to diﬀerent weather conditions. Helicopter position and attitude is estimated from images of a specially designed landing pad. We provide results from both simulations and ﬂight tests, showing the performance of the vision system and the overall quality of the landing.

Torsten Merz, Simone Duranti, Gianpaolo Conte

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