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In this paper, we present an autonomous unmanned aerial vehicle (UAV) landingsystem based on visual navigation. We design the landmark as a topologicalpattern in order to enable the UAV to distinguish the landmark from theenvironment easily. In addition, a dynamic thresholding method is developed forimage binarization to improve detection efficiency. The relative distance inthe horizontal plane is calculated according to effective image information,and the relative height is obtained using a linear interpolation method. Thelanding experiments are performed on a static and a moving platform,respectively. The experimental results illustrate that our proposed landingsystem performs robustly and accurately.

Autonomous UAV Landing System Based on Visual Navigation