Digital Image Processing
A ship motion simulation system
Virtual Reality
A Vision-Based Algorithm for Landing Unmanned Aerial Vehicles
CSSE '08 Proceedings of the 2008 International Conference on Computer Science and Software Engineering - Volume 01
Approaches for a tether-guided landing of an autonomous helicopter
IEEE Transactions on Robotics
Autonomous vertical landing on an oscillating platform: an internal-model based approach
Automatica (Journal of IFAC)
Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow
IEEE Transactions on Robotics
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We present the design and implementation of a vision based autonomous landing algorithm using a downward looking camera. To demonstrate the efficacy of our algorithms we emulate the dynamics of the ship-deck, for various sea states and different ships using a six degrees of freedom motion platform. We then present the design and implementation of our robust computer vision system to measure the pose of the shipdeck with respect to the vehicle. A Kalman filter is used in conjunction 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.