论文标题
基于视觉的硬件软件实时控制系统，用于无人机的自动着陆
Vision based hardware-software real-time control system for autonomous landing of an UAV
论文作者
论文摘要
在本文中，我们介绍了一个基于视觉的硬件软件控制系统，可实现多轨无人机（UAV）的自主降落。它允许实时检测一个标记的着陆板，以进行1280 x 720 @ 60 fps视频流。另外，LIDAR传感器用于测量地面上方的高度。异质Zynq SOC设备用作计算平台。在许多序列上测试了该溶液，并以96％的精度检测到着陆板。这项研究表明，可重编程的异质计算系统是无人机的一个很好的解决方案，因为它可以实现相对较低的能源消耗的实时数据流处理。
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.
