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In this paper, an onboard vision-based system for the autonomous landing of a low-cost quadrotor is presented. A novel landing pad with different optical markers sizes is carefully designed to be robustly recognized at different distances. To provide reliable pose information in a GPS (Global Positioning System)-denied environment, a vision algorithm for real-time landing pad recognition and pose estimation is implemented. The dynamic model of the quadrotor is established and a system scheme for autonomous landing control is presented. A series of autonomous flights have been successfully performed, and a video of the experiment is available online. The efficiency and accuracy of the presented vision-based system is demonstrated by using its position and attitude estimates as control inputs for the autonomous landing of a self-customized quadrotor.

An Onboard Vision-Based System for Autonomous Landing of a Low-Cost Quadrotor on a Novel Landing Pad