Vision-Based Object Detection and Localization for Autonomous Airborne Payload Delivery

摘要

This paper follows the development of a vision-based object detection and localization system for implementation in an autonomous aircraft for payload delivery. Application of such a system could see use in the delivery of packages to offshore freighter ships and inaccessible inland areas. This system was developed in a modular fashion, such that it could be interchanged and adapted between various airframes. This system comprised of three core elements, namely autonomous flight control, vision-based object detection and localization and, payload release and delivery modelling. The final integrated system was tested and able to achieve fully autonomous flight, and simultaneously model a payload release trajectory from an altitude of 75 m to deliver the given payload with an average displacement of 1.8 m of the designated drop-zone. The drop-zone location was determined via the onboard vision system through the implementation of an object detection and localization algorithm.