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The aim of this ROS package is to provide detection and pose estimation of an H-shaped helipad for the purpose of landing a UAV. The approach is based on this paper. It provides robust and accurate detection of the helipad from different angles and orientations.
Given Below is the image of the Helipad.
We obtain a closed contour of the H, given by a parameterized function , where
and each
represents a point of the contour on the image. We define the size of the contour to be it's Cardinality
.
Define a function , where
would give us the 'Sharpness' around the particular point of the contour. This can be achieved by considering the distance of a particular point
to the line connecting
and
. This distance will be close to 0 for points along relatively straight lines and give a maxima around corners. So,