Conference Publication
Resources:
- Bibtex citation: Bibtex
Abstract:
We present the design and implementation of a vision based autonomous landing algorithm using a downward looking camera. Todemonstrate the efficacy of our algorithm we emulate the dynamics of the ship-deck, for various sea states and different ships using a 6DOF motion platform. We then present the design and implementation of our robust computer vision system to measure the pose of the shipdeck w.r.t to the vehicle. A Kalman filter is used in conjuction with our vision system to ensure the robustness of the estimates. We demonstrate the accuracy and robustness of our system to occlusions, variation in intensity, etc using our testbed.