Landing a UAV on a runway using image registration

Andrew Edmund Miller, Mubarak Shah, Don Harper

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we present a system that uses only vision to land a UAV on a runway. We describe a method for estimating the relative location of the runway as an image by performing image registration against a stack of images in which the location of the runway is known. An approximation of the camera projection model for a forward-facing view of a runway is derived, allowing the course deviation of the UAV to be estimated from a registered image. The course deviation is used as input to a linear feedback control loop to maintain the correct flight path. Our method is implemented as a real-time multithreaded application, which is used to control an aircraft in Microsoft Flight Simulator. We also show results of applying the vision component of the system to video recorded from an actual UAV.

Original languageEnglish (US)
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages182-187
Number of pages6
DOIs
StatePublished - Sep 18 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Miller, A. E., Shah, M., & Harper, D. (2008). Landing a UAV on a runway using image registration. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 182-187). [4543206] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543206