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Ship Deck Tracking and Landing



Overview


In this project, we design a helicopter landing system to detect and track a shipdeck using camera or lidar data.

Abstract


Shipdeck landing is one of the most challenging tasks for a rotorcraft. Current autonomous rotorcraft use shipdeck mounted transponders to measure the relative pose of the vehicle to the landing pad. This tracking system is not only expensive but renders an unequipped ship unlandable. We address the challenge of tracking shipdeck without additional infrastructure on the deck. We present two methods based on video and lidar that are able to track the shipdeck starting at a considerable distance from the ship. This redundant sensor design enables us to have two independent tracking systems.

Links


Project webpage (link)

S. Arora, S. Jain, S. Scherer, S. Nuske, L. Chamberlain and S. Singh, "Infrastructure-free Shipdeck Tracking for Autonomous Landing." IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013.(pdf)