Vision-based Autonomous Landing for UAV Using Blocked Histogram Matching

Abstract

Autonomous landing is a challenging issue for unmanned aerial vehicles (UAVs). In this paper, we present a system that provides vision based autonomous landing for rotorcraft-based UAV. We propose a vision based landing approach with dual image sensors looking downward and digital image processing technique. We applied histogram matching technique for measuring altitude roughly by comparing amount of matched blocks. The experimental results show our method's applicability in the real flight.