Details

Autor(en) / Beteiligte

• Zhang, Juntong
• Hu, Yanxiang
• Zhang, Bo
• Gao, Qian

Titel

Research on Unmanned Aerial Vehicle vision-aid landing with Dynamic vision sensor

Ist Teil von

• 2019 IEEE 4th Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), 2019, Vol.1, p.965-969

Ort / Verlag

IEEE

Erscheinungsjahr

2019

Quelle

IEEE Xplore

Beschreibungen/Notizen

• Compared with the conventional frame-based image sensor, Dynamic Visual Sensor (DVS) only sensitive to the intensity changes in the scene, and then serially send out these changes in the form of Activity Event (AE). Taking advantage of real-time, low redundancy and small data volume of DVS, we exploit a novel method for Unmanned Aerial Vehicle (UAV) vision-aid landing. In our method, discrete AEs within a varying period are accumulated to form an event map at first. Then the template matching technology is employed to locate the landing mark. Based on the recognized landing mark, local optical flow estimation and real speed projection are conducted to provide more aux information for accurate landing. In the experiments, a simulation platform is setup verify the effectiveness of our methods under various external environments. The experimental results show that the proposed algorithm can accurately measure the location and relative speed of landing marks.