In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video stream. In addition, a LiDAR sensor is used to measure the altitude above ground. A heterogeneous Zynq SoC device is used as the computing platform. The solution was tested on a number of sequences and the landing pad was detected with 96% accuracy. This research shows that a reprogrammable heterogeneous computing system is a good solution for UAVs because it enables real-time data stream processing with relatively low energy consumption.
翻译:在本文中,我们展示了一个基于视觉的硬件软件控制系统,使多机器人无人驾驶飞行器(无人驾驶飞行器)能够自动着陆。它允许在1280 x 720@ 60 fps 视频流中实时探测到一个标记的着陆台。此外,一个激光雷达传感器用于测量地面上空的高度。一个混杂的 Zynq SoC 设备被用作计算平台。该解决方案在一系列序列上进行了测试,并检测到了96%的精确度。该研究表明,可重新编程的混合计算系统对于无人驾驶飞行器来说是一个很好的解决方案,因为它能够实时处理数据流,能源消耗相对较低。