Visual Servoing for Multirotor Precision Landing in Varying Light Conditions

Authors

Jesse WynnFollow
Tim McLain, Brigham Young University Mechanical Engineering DepartmentFollow

Keywords

visual servoing, precision landing, multirotor, autonomous, control, image-based visual servoing, robotic vision, infrared

Abstract

The problem of performing a precision landing of an autonomous multirotor UAV in various lighting conditions is studied. A vision-based approach is proposed and consists of varying degree-of-freedom image-based visual servoing (VDOF-IBVS), and a specialized landing marker. The proposed approach is validated through extensive flight testing outdoors in both lighted and dark conditions, and is done using a standard off-the-shelf autopilot system.

BYU ScholarsArchive Citation

Wynn, Jesse and McLain, Tim, "Visual Servoing for Multirotor Precision Landing in Varying Light Conditions" (2018). Faculty Publications. 2178.
https://scholarsarchive.byu.edu/facpub/2178

Document Type

Conference Paper

Publication Date

2018-08-29

Permanent URL

http://hdl.lib.byu.edu/1877/5076

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Graduate Student

Copyright Use Information

http://lib.byu.edu/about/copyright/