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Sensors 2017, 17(6), 1437;

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

College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China
Naval Academy of Armament, Beijing 100161, China
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)
Full-Text   |   PDF [3056 KB, uploaded 21 June 2017]   |  


[-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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