# Vision based hardware-software real-time control system for autonomous landing of an UAV

arXiv: https://arxiv.org/abs/2004.11612 · HTML: https://mlsanity.com/paper/2004.11612/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Apr 2020.

## Built on by (most cited first, 1 of 1)

- [Hardware-in-the-loop simulation of a UAV autonomous landing algorithm implemented in SoC FPGA](https://mlsanity.com/paper/2207.12198/) (2022)

## Abstract (arXiv)

In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video stream. In addition, a LiDAR sensor is used to measure the altitude above ground. A heterogeneous Zynq SoC device is used as the computing platform. The solution was tested on a number of sequences and the landing pad was detected with 96% accuracy. This research shows that a reprogrammable heterogeneous computing system is a good solution for UAVs because it enables real-time data stream processing with relatively low energy consumption.