A cross-platform comparison of visual marker based approaches for autonomous flight of quadrocopters

Abstract

Abstract-In this paper, we compare three different marker based approaches for six degrees of freedom (6DOF) pose estimation, which can be used for position and attitude control of micro aerial vehicles (MAV). All methods are able to achieve real time pose estimation onboard without assistance of any external metric sensor. Since these methods can be used in various working environments, we compare their performance by carrying out experiments across two different platforms: an AscTec Hummingbird and a Pixhawk quadrocopter. We evaluate each method's accuracy by using an external tracking system and compare the methods with respect to their operating ranges and processing time. We finally compare each method's performance during autonomous takeoff, hovering and landing of a quadrocopter.

Altitude Measurement-Based Optimization of the Landing Process of UAVs

“…The approaches to the landing problem, available in the literature, as in [ 20 , 21 , 22 ] or [ 23 ], do not focus on optimization of the landing task itself, but on building control laws to land the UAV in the autonomous mode based on, e.g., detected markers. Autonomous outdoor landing procedures using static marker tracking are proposed in [ 24 , 25 , 26 ].…”

Autonomous landing on a moving vehicle with an unmanned aerial vehicle

“…Multiple works describe systems capable of autonomous outdoor flight while tracking a static or moving marker. In (Yang et al, 2013), (Masselli et al, 2014) and (Yang et al, 2015), UAV systems capable of hovering and landing on a static target are proposed. Autonomous landing on a target moving at slow speed up to 1 m/s is presented in (Kim et al, 2014) and in (Lee et al, 2016).…”

Robust Perception for Aerial Inspection: Adaptive and On-Line Techniques

“…Most current UAV perception algorithms use external markers placed along the environment or on the object of interest, which can be easily detected with RGB or infra-red cameras. Tasks such target detection [7,9,10], navigation [5,18] and landing [4,13] can be easily simplified with the use of these markers. There are, however, situations where the deployment of markers is not practical or possible, especially when the vehicle operates in dynamically changing and outdoor scenarios.…”