Image processing based autonomous landing zone detection for a multi-rotor drone in emergency situations

Yıl 2021, Cilt: 5 Sayı: 4, 193 - 200, 01.10.2021

Veysel Turan Ercan Avşar Davood Asadi Emine Avşar Aydın

https://doi.org/10.31127/tuje.744954

Cited By: 7

Öz

Flight safety and reliability improvement is an important research issue in aerial applications. Multi-rotor drones are vulnerable to motor failures leading to potentially unsafe operations or collisions. Therefore, researchers are working on autonomous landing systems to safely recover and land the faulty drone in on a desired landing area. In such a case, a suitable landing zone should be detected rapidly in for emergency landing. Majority of the works related with autonomous landing utilize a marker and GPS signals to detect landing site. In this work, we propose a landing system framework that involves only the processing of images taken from the onboard camera of the vehicle. First, the objects in the image are determined by filtering and edge detection algorithm, then the most suitable landing zone is searched. The area that is free from obstacles and closest to the center of the image is defined as the most immediate and suitable landing zone. The method has been tested on 25 images taken from different heights and its performance has been evaluated in terms runtime on a single board computer and detection precision and recall values. The average measured runtime is 2.4923 seconds and 100% of precision and recall values are achieved for the images taken from 1m and 2m. The smallest precision and recall values are 79.1% and 81.2%, respectively.

Anahtar Kelimeler

autonomous landing, image processing, object detection, UAV

Destekleyen Kurum

Adana Alparslan Türkeş Science and Technology University

Proje Numarası

19119001

Kaynakça

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