Embedded ArUco: a novel approach for high precision UAV landing

This paper presents a novel approach for precise UAV landing using visual sensory data. A new type of fiducial marker called embedded ArUco (e-ArUco) was developed specially for a task of a robust marker detection for a wide range of distances. E-ArUco markers are based on original ArUco markers approach and require only ArUco detection algorithms. The applicability of developed markers was validated using UAV landing experiments in a virtual environment. Both a developed marker and a landing algorithm were implemented within the ROS framework and tested in the Gazebo simulator. According to our virtual experiments, an average landing accuracy was 2.03 cm with a standard deviation of 1.53 cm.