Autonomous landing on moving targets using LiDAR, Camera and IMU sensor Fusion

In this work, we presented a quadrotor system capable of performing autonomous landing using a novel localization method by fusion of data from one-dimensional LiDAR, camera, and IMU sensors that are embedded on board. In this research, a marker with specific properties was placed on the target which makes target detection possible by the onboard camera in different landing maneuver situations. There is no communication device between the target and the aerial vehicle for coordinating the landing maneuver. Thus, this system is capable of landing on any target (recognizable with a specific marker) with only onboard processors and sensors. We have validated our system localization and control performance in experiments.