ROLAND: Robust Landing of UAV on Moving Platform using Object Detection and UWB based Extended Kalman Filter

Oct 12, 2021·
ChanYoung Kim*
Equal contribution
,
EungChang Mason Lee*
Equal contribution
,
Junho Choi
,
Jinwoo Jeon
,
Seoktae Kim
,
Hyun Myung†
Corresponding author

We propose ROLAND, a robust autonomous landing framework that estimates the relative pose between a UAV and a moving platform by fusing object detection and UWB with VIO and encoder measurements using an Extended Kalman Filter, enabling reliable landing even under limited camera FoV.

UAV Autonomous Landing Object Detection UWB Extended Kalman Filter Sensor Fusion Relative Pose Estimation Visual-Inertial Odometry