Autonomous landing of multi-rotor UAV
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A GPS and camera-based landing system for navigating a multirotor UAV from a set of arbitrary GPS coordinates to a floating platform has been proposed. The camera-based sub-system uses a target (a specific geometrical marking), in order to simplify the process of finding the platform. In terms of robust target detection, an attempt has been made to address the issue of illumination invariance (detecting the target under varying light conditions) and filtering out visual noise (objects mistakenly identified by the system as the target). The 3D (X, Y, Z) position estimation proposed has undergone motionless tests with, and without, attitude compensation. For both cases, the absolute error never exceeded $8\%$ of the ground truth measurements.