Multi-resolution visual fiducial and assistant navigation system for unmanned aerial vehicle landing

To achieve more accurate navigation performance in landing process, a multi-resolution visual fiducial system is proposed as the assistance for unmanned aerial vehicle. This system use captured image of artificial landmark (e.g. barcode) to provide relative localization information in X, Y, Z axes, and Yaw, Roll, Pitch orientations. Multi-resolution coding system is designed to ensure unmanned aerial vehicle will not lose landing target detection due to limited visual angle or camera resolution. Experiments prove the performance of proposed system in detection accuracy, time consumption, and navigation. Comparison experiments with the state-of-the-art systems are also included and analyzed.