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Applied Bionics and Biomechanics
Volume 3, Issue 3, Pages 171-177

A Vision-Based Method for Autonomous Landing of a Rotor-Craft Unmanned Aerial Vehicle

Z. Yuan, Z. Gong, J. Chen, and J. Wu

School of Mechatronics Engineering and Automation, Shanghai University, 149 Yanchang Road, Shanghai, China

Copyright © 2006 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This article introduces a real-time vision-based method for guided autonomous landing of a rotor-craft unmanned aerial vehicle. In the process of designing the pattern of landing target, we have fully considered how to make this easier for simplified identification and calibration. A linear algorithm was also applied using a three-dimensional structure estimation in real time. In addition, multiple-view vision technology is utilized to calibrate intrinsic parameters of camera online, so calibration prior to flight is unnecessary and the focus of camera can be changed freely in flight, thus upgrading the flexibility and practicality of the method.