@inproceedings{2e89bcffcd194a0e98524dd53e83c450,
title = "Vision based autonomous landing of an Unmanned Aerial Vehicle on a stationary target",
abstract = "The foremost, yet challenging problem of an Unmanned Aerial Vehicle (UAV) is the autonomous landing. This paper presents a solution for the independent landing of a quadrotor UAV on a stationary target. This method includes a searching and a landing part. The visual data is collected by the onboard camera of the AR Drone. Speeded Up Robust Features (SURF) method is used to detect and compute the keypoint descriptors and Fast Approximate Nearest Neighbor Search Library (FLANN) based descriptor matcher is utilized for the accurate matching of the template image with the captured images to determine the target position. The aim of this method is to minimize the distance between the drone and the target. A Proportional-Integral-Derivative (PID) controller is designed to generate the desired velocity signals for the drone. Also, in this work, the drone is directly navigating and landing on the target by adjusting the x, y and z velocities simultaneously. The method is tested and validated on a quadrotor with two different initial heights.",
keywords = "Autonomous Landing, Feature detection and matching, PID Controller, SURF, UAV",
author = "Vidya Sudevan and Amit Shukla and Hamad Karki",
note = "Funding Information: This work has been supported by GRC, ADNOC, Abu Dhabi through the project EE/PI/2015449. Publisher Copyright: {\textcopyright} 2017 Institute of Control, Robotics and Systems - ICROS.; 17th International Conference on Control, Automation and Systems, ICCAS 2017 ; Conference date: 18-10-2017 Through 21-10-2017",
year = "2017",
month = dec,
day = "13",
doi = "10.23919/ICCAS.2017.8204466",
language = "British English",
series = "International Conference on Control, Automation and Systems",
publisher = "IEEE Computer Society",
pages = "362--367",
booktitle = "ICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings",
address = "United States",
}