AIRA：一种面向自主精准无人机降落与非视距室内导航的低成本红外方法
AIRA: A Low-cost IR-based Approach Towards Autonomous Precision Drone Landing and NLOS Indoor Navigation
AI总结：
针对资源受限微型无人机精准降落难题，提出低成本红外平台AIRA，以三个光电二极管实现11.1米距离内误差低于10厘米的降落，并支持弱光与部分非视距导航。
摘要：
自动无人机降落是实现完全自主无人机的重要一步。尽管已有许多工作利用GPS、视频、无线信号和主动声学传感来执行精准降落，但对于手掌大小的微型无人机而言，自主无人机降落仍是一个尚未解决的挑战，因为这类无人机可能无法支撑视觉、无线或主动音频传感的高计算需求。我们提出AIRA，这是一种低成本的基于红外光的平台，面向资源受限微型无人机的精准、高效降落。AIRA由位于降落站的红外灯泡以及位于无人机底部的节能型硬件光电二极管（PD）传感平台组成。AIRA的成本低于83美元，却能以极小的能耗实现与现有基于视觉的方法相当的性能。AIRA仅需三个PD，无需任何复杂的模式识别模型，即可从最远11.1米的距离让无人机准确降落，误差低于10厘米；相比之下，基于摄像头的方法需要利用高分辨率图像识别复杂标记，且在相同高度下的作用距离最远仅为1.2米。此外，我们证明AIRA能够在弱光和部分非视距场景中准确引导无人机，而这些场景对传统基于视觉的方法而言十分困难。
英文摘要：
Automatic drone landing is an important step for achieving fully autonomous drones. Although there are many works that leverage GPS, video, wireless signals, and active acoustic sensing to perform precise landing, autonomous drone landing remains an unsolved challenge for palm-sized microdrones that may not be able to support the high computational requirements of vision, wireless, or active audio sensing. We propose AIRA, a low-cost infrared light-based platform that targets precise and efficient landing of low-resource microdrones. AIRA consists of an infrared light bulb at the landing station along with an energy efficient hardware photodiode (PD) sensing platform at the bottom of the drone. AIRA costs under 83 USD, while achieving comparable performance to existing vision-based methods at a fraction of the energy cost. AIRA requires only three PDs without any complex pattern recognition models to accurately land the drone, under $10$cm of error, from up to $11.1$ meters away, compared to camera-based methods that require recognizing complex markers using high resolution images with a range of only up to $1.2$ meters from the same height. Moreover, we demonstrate that AIRA can accurately guide drones in low light and partial non line of sight scenarios, which are difficult for traditional vision-based approaches.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
