Autonomous Vision-based Target Detection Using Unmanned Aerial Vehicle

Abstract

In this paper, a vision-based target detection system using an Unmanned Aerial Vehicle (UAV) is developed to execute a mission plan. The mission plan is to autonomously take off to a specified altitude, fly to a waypoint with a predefined GPS coordinate, locate the target displayed by an AprilTag, hover above the target, then descend and land near the target. Our result shows that AprilTag is highly viable in UAV vision-based target detection.