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Sensors 2017, 17(6), 1437; doi:10.3390/s17061437

Localization Framework for Real-Time UAV Autonomous Landing: An On-Ground Deployed Visual Approach

1
College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China
2
Naval Academy of Armament, Beijing 100161, China
3
Institute of Technical Aspects of Multimodal Systems(TAMS), Department of Computer Science, University of Hamburg, 22527 Hamburg, Germany
*
Author to whom correspondence should be addressed.
Academic Editors: Felipe Gonzalez Toro and Antonios Tsourdos
Received: 31 March 2017 / Revised: 16 May 2017 / Accepted: 9 June 2017 / Published: 19 June 2017
(This article belongs to the Special Issue UAV or Drones for Remote Sensing Applications)
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Abstract

[-5]One of the greatest challenges for fixed-wing unmanned aircraft vehicles (UAVs) is safe landing. Hereafter, an on-ground deployed visual approach is developed in this paper. This approach is definitely suitable for landing within the global navigation satellite system (GNSS)-denied environments. As for applications, the deployed guidance system makes full use of the ground computing resource and feedbacks the aircraft’s real-time localization to its on-board autopilot. Under such circumstances, a separate long baseline stereo architecture is proposed to possess an extendable baseline and wide-angle field of view (FOV) against the traditional fixed baseline schemes. Furthermore, accuracy evaluation of the new type of architecture is conducted by theoretical modeling and computational analysis. Dataset-driven experimental results demonstrate the feasibility and effectiveness of the developed approach. View Full-Text
Keywords: UAV; stereo vision; localization UAV; stereo vision; localization
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Kong, W.; Hu, T.; Zhang, D.; Shen, L.; Zhang, J. Localization Framework for Real-Time UAV Autonomous Landing: An On-Ground Deployed Visual Approach. Sensors 2017, 17, 1437.

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