UAV Vision Landing Motivation Data Gathered Research Plan Background Mustika Wijaya Mentor: Or Dantsker Motivation Data Gathered With the growing use of unmanned aerial vehicles (UAVs), the ability to perform automated landings aided by vision is a significant capability improvement. Research Plan Develop a vision algorithm for automated UAV landings Take real-time imagery from a UAV- mounted, downward-looking camera to estimate the relative position of the aircraft from a ground-based, moving landing platform. Weather permitting, the algorithm would be tested on a real unmanned aircraft near the end of the semester. Actual distance X (m) Y (m) Z (m) 0.061 0.017 0.116 0.079 0.094 0.914 0.526 1.219 0.144 0.170 1.524 0.169 0.142 1.828 Background Results The UAV autonomously approaches the moving landing platform with the aid of GPS GPS has an accuracy of 2-5 m, allowing the aircraft flying aircraft to get the platform in view The landing platform will have a square-based Aruco marker on the top of it Image processing is performed using OPENCV, a library aimed at real-time computer vision The tested camera was shown to be suitable target position estimation within a range of 0.1 - 7.0 m A conversion factor of 1.71 was found to estimate physical distance from the camera data. A proof-of-concept demonstration was performed Future Work Integrate the algorithm into the existing autopilot, providing it position information for automating landings Acquire flight test video of landing platform underneath aircraft and verify estimation of marker displacement Flight test algorithm and land aircraft Current Progress References Camera was calibrated to use the charuco board The position of its four corners was detected in the image and the marker’s id A 3D transformation from the marker to the camera coordinate system was obtained The pose estimation of the marker in xyz direction has been implemented "OpenCV: Detection of ArUco Markers." Retrieved from http://docs.opencv.org/3.1.0/d5/dae/tutori al_ aruco_detection.html DLR: German Aerospace Center. “Video – autonomous landing at full speed.” Retrieved from http://www.dlr.de/dlr/en/desktopdefault.aspx/tabi d-10081/151_read-16413/