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http://dx.doi.org/10.5302/J.ICROS.2009.15.1.054

Vision Processing for Precision Autonomous Landing Approach of an Unmanned Helicopter  

Kim, Deok-Ryeol (충남대학교 항공우주공학과)
Kim, Do-Myoung (충남대학교 항공우주공학과)
Suk, Jin-Young (충남대학교 항공우주공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.1, 2009 , pp. 54-60 More about this Journal
Abstract
In this paper, a precision landing approach is implemented based on real-time image processing. A full-scale landmark for automatic landing is used. canny edge detection method is applied to identify the outside quadrilateral while circular hough transform is used for the recognition of inside circle. Position information on the ground landmark is uplinked to the unmanned helicopter via ground control computer in real time so that the unmanned helicopter control the air vehicle for accurate landing approach. Ground test and a couple of flight tests for autonomous landing approach show that the image processing and automatic landing operation system have good performance for the landing approach phase at the altitude of $20m{\sim}1m$ above ground level.
Keywords
autonomous landing approach; unmanned helicopter; vision processing; canny edge detection; circular hough transform;
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