Publication:
Error Reduction in Vision-Based Multirotor Landing System

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dc.affiliation.dptoUC3M. Departamento de Informáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Inteligencia Artificial Aplicada (GIAA)es
dc.contributor.authorLlerena Caña, Juan Pedro
dc.contributor.authorGarcía Herrero, Jesús
dc.contributor.authorMolina López, José Manuel
dc.contributor.funderComunidad de Madrides
dc.contributor.funderMinisterio de Ciencia e Innovación (España)es
dc.contributor.funderUniversidad Carlos III de Madrides
dc.date.accessioned2022-06-07T10:35:38Z
dc.date.available2022-06-07T10:35:38Z
dc.date.issued2022-05-10
dc.description.abstractNew applications are continuously appearing with drones as protagonists, but all of them share an essential critical maneuver—landing. New application requirements have led the study of novel landing strategies, in which vision systems have played and continue to play a key role. Generally, the new applications use the control and navigation systems embedded in the aircraft. However, the internal dynamics of these systems, initially focused on other tasks such as the smoothing trajectories between different waypoints, can trigger undesired behaviors. In this paper, we propose a landing system based on monocular vision and navigation information to estimate the helipad global position. In addition, the global estimation system includes a position error correction module by cylinder space transformation and a filtering system with a sliding window. To conclude, the landing system is evaluated with three quality metrics, showing how the proposed correction system together with stationary filtering improves the raw landing system.en
dc.description.sponsorshipThis research was partially funded by public research projects of Spanish Ministry of Science and Innovation, references PID2020-118249RB-C22 and PDC2021-121567-C22—AEI/10.13039/ 501100011033, and by the Madrid Government (Comunidad de Madrid, Spain) under the Multiannual Agreement with UC3M in the line of Excellence of University Professors, reference EPUC3M17.en
dc.format.extent25
dc.identifier.bibliographicCitationLlerena Caña, J. P., García Herrero, J., & Molina López, J. M. (2022). Error Reduction in Vision-Based Multirotor Landing System. In Sensors, 22(10), 3625-3650en
dc.identifier.doihttps://doi.org/10.3390/s22103625
dc.identifier.issn1424-3210
dc.identifier.publicationfirstpage3625
dc.identifier.publicationissue10
dc.identifier.publicationlastpage3650
dc.identifier.publicationtitleSensorsen
dc.identifier.publicationvolume22
dc.identifier.urihttps://hdl.handle.net/10016/35012
dc.identifier.uxxiAR/0000030660
dc.language.isoengen
dc.publisherMDPI AGen
dc.relation.projectIDGobierno de España. PID2020-118249RB-C22es
dc.relation.projectIDGobierno de España. PDC2021-121567-C22—AEI/10.13039/501100011033es
dc.relation.projectIDComunidad de Madrid. EPUC3M17es
dc.rights© 2022 by the authors. Licensee MDPI, Basel, Switzerland.en
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaIngeniería Mecánicaes
dc.subject.otherUaven
dc.subject.otherAutonomous landingen
dc.subject.otherFilteringen
dc.subject.otherComputer visionen
dc.subject.otherHelipad contexten
dc.subject.otherGlobal positionen
dc.subject.otherNavigation systemen
dc.subject.otherSitlen
dc.titleError Reduction in Vision-Based Multirotor Landing Systemen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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