Bondan Eka Nugraha, Zaenal Abidin

QR-Code Based Visual Servoing and Target Recognition to Improve Payload Release Accuracy in Air Delivery Missions using Fully Autonomous Quad-Copter UAV

Introduction

Qr-code based visual servoing and target recognition to improve payload release accuracy in air delivery missions using fully autonomous quad-copter uav. Enhance UAV package delivery accuracy & security in last-mile missions using QR-code visual servoing & target recognition. Corrects GPS errors, verifies recipients, ensures autonomous, precise release.

Abstract

Abstract. Unmanned Aerial Vehicles (UAVs) are increasingly utilized for package delivery due to their efficiency and automation capabilities. UAVs can execute autonomous flight missions using Global Positioning System (GPS)-based navigation. However, challenges arise in the final stage of delivery, known as the last-mile delivery problem. The limitations of GPS-based navigation, the absence of recipient authentication, and shifting drop-off points create reliability and safety concerns. External factors such as varied environmental topography further contribute to delivery inaccuracies, highlighting the need for a more precise approach. Purpose: Many studies have explored UAV navigation and delivery systems, but challenges in last-mile delivery remain unresolved. This research introduces an improved UAV delivery system using computer vision (CV) and image-based visual servoing (IBVS) with QR Codes as location markers. The aim is to enhance UAV navigation accuracy and recipient verification, ensuring more reliable package deliveries. Methods/Study design/approach: The study implements a CV-based navigation system where QR Codes serve as landing markers for UAVs. Image processing is conducted using a companion computer linked to the UAV's flight control system. The IBVS method enables UAVs to adjust their position in real-time, minimizing GPS errors. Recipient verification is performed through QR Code scanning before releasing the package. The system is tested through computer simulations and real flight experiments to assess accuracy and effectiveness. Result/Findings: Experimental results demonstrate that UAVs equipped with the IBVS method can successfully complete package delivery missions with improved accuracy. GPS errors are corrected by aligning the UAV's position with QR Code markers, and recipient authentication is verified before package release. Real-flight tests confirm that this approach significantly enhances UAV delivery reliability compared to conventional GPS-based navigation. Novelty/Originality/Value: This research presents a novel integration of computer vision and UAV navigation for addressing last-mile delivery challenges. By leveraging IBVS and QR Code-based authentication, UAVs can perform fully autonomous, precise, and secure package deliveries. This method offers a viable solution to improve UAV-based logistics, reducing delivery errors and enhancing operational safety.

Review

This paper presents a timely and relevant solution to the pervasive "last-mile delivery problem" in autonomous UAV package delivery. It accurately identifies key challenges such as the inherent limitations of GPS navigation, the absence of reliable recipient authentication, and the impact of environmental factors on delivery accuracy. The proposed system effectively integrates computer vision (CV) and image-based visual servoing (IBVS) with QR codes, aiming to significantly enhance both navigation precision and recipient verification. This approach holds considerable promise for improving the reliability and safety of fully autonomous air delivery missions. The methodology adopted is a significant strength of this research. By employing IBVS, the UAV can dynamically adjust its position in real-time, effectively mitigating the inaccuracies associated with GPS-only navigation during the critical final approach. The dual utility of QR codes, serving both as precise visual landing markers and as a mechanism for recipient authentication, is a particularly innovative and practical contribution. The validation of the system through both computer simulations and real-flight experiments provides strong evidence for its effectiveness, demonstrating that the UAV can successfully correct GPS errors and achieve more accurate and verified package deliveries compared to traditional methods. While the proposed system offers a compelling advancement, certain aspects could benefit from further elaboration for real-world applicability. The abstract mentions environmental topography as a contributing factor to delivery inaccuracies but does not detail the robustness of the QR code detection and visual servoing system under various adverse conditions, such as poor lighting, glare, dust, or inclement weather (rain, snow), which are crucial for reliable operation. Additionally, while recipient authentication is noted, the security protocols around the QR code itself (e.g., preventing spoofing or unauthorized scanning) are not discussed. Future work could explore the system's performance envelope under challenging environmental conditions, investigate more dynamic visual markers to reduce reliance on pre-placed QR codes, or incorporate additional security layers for authentication.

Full Text

Comments

You need to be logged in to post a comment.