Methods and system for autonomous landing

A computer-implemented method for controlling an unmanned aerial vehicle (UAV), comprising:

• identifying a set of target markers based on a plurality of images captured by an imaging device carried by the UAV, the set of target markers including at least two or more types of target markers and being in close proximity to be detected within a same field of view of the imaging device;
• determining a spatial relationship between the UAV and the set of target markers based at least in part on the plurality of images;
• and
• controlling the UAV to approach the set of target markers based at least in part on the spatial relationship while controlling the imaging device to track the set of target markers such that the set of target markers remains within the same field of view of the imaging device.

One or more non-transitory computer-readable storage media storing computer-executable instructions that, when executed by a computing system, configure the computing system to perform operations comprising:

• identifying a set of target markers based on a plurality of images captured by an imaging device carried by the UAV, the set of target markers including at least two or more types of target markers and being in close proximity to be detected within a same field of view of the imaging device;
• determining a spatial relationship between the UAV and the set of target markers based at least in part on the plurality of images;
• and
• controlling the UAV to approach the set of target markers based at least in part on the spatial relationship while controlling the imaging device to track the set of target markers such that the set of target markers remains within the same field of view of the imaging device.

An unmanned aerial vehicle (UAV), comprising:

• a memory that stores one or more computer-executable instructions;
• and
• one or more processors configured to access the memory and execute the computer-executable instructions to perform operations comprising:
• identifying a set of target markers based on a plurality of images captured by an imaging device carried by the UAV, the set of target markers including at least two or more types of target markers and being in close proximity to be detected within a same field of view of the imaging device;
• determining a spatial relationship between the UAV and the set of target markers based at least in part on the plurality of images;
• and
• controlling the UAV to approach the set of target markers based at least in part on the spatial relationship while controlling the imaging device to track the set of target markers such that the set of target markers remains within the same field of view of the imaging device.