{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"institution":[{"name":"Authorea Inc."}],"indexed":{"date-parts":[[2025,6,3]],"date-time":"2025-06-03T16:44:16Z","timestamp":1748969056236,"version":"3.41.0"},"posted":{"date-parts":[[2024,6,25]]},"group-title":"Preprints","reference-count":0,"publisher":"Wiley","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"accepted":{"date-parts":[[2024,6,25]]},"abstract":"<jats:p id=\"p1\">The integration of precise landing capabilities into UAVs is crucial for\nenabling autonomous operations, particularly in challenging environments\nsuch as the offshore scenarios. This work proposes a heterogeneous\nperception system that incorporates a multimodal fiducial marker,\ndesigned to improve the accuracy and robustness of autonomous landing of\nUAVs in both daytime and nighttime operations. This work presents\nViTAL-TAPE, a visual transformer-based model, that enhance the detection\nreliability of the landing target and overcomes the changes in the\nillumination conditions and viewpoint positions, where traditional\nmethods fail. VITAL-TAPE is an end-to-end model that combines multimodal\nperceptual information, including photometric and radiometric data, to\ndetect landing targets defined by a fiducial marker with 6\ndegrees-of-freedom. Extensive experiments have proved the ability of\nVITAL-TAPE to detect fiducial markers with an error of 0.01 m. Moreover,\nexperiments using the RAVEN UAV, designed to endure the challenging\nweather conditions of offshore scenarios, demonstrated that the\nautonomous landing technology proposed in this work achieved an accuracy\nup to 0.1 m. This research also presents the first successful autonomous\noperation of a UAV in a commercial offshore wind farm with floating\nfoundations installed in the Atlantic Ocean. These experiments showcased\nthe system\u2019s accuracy, resilience and robustness, resulting in a precise\nlanding technology that extends mission capabilities of UAVs, enabling\nautonomous and Beyond Visual Line of Sight offshore operations.<\/jats:p>","DOI":"10.22541\/au.171930520.02297057\/v1","type":"posted-content","created":{"date-parts":[[2024,6,25]],"date-time":"2024-06-25T08:46:52Z","timestamp":1719305212000},"source":"Crossref","is-referenced-by-count":0,"title":["A Multimodal Perception System for Precise Landing of UAVs in Offshore Environments"],"prefix":"10.22541","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8010-7507","authenticated-orcid":true,"given":"Rafael Marques","family":"Claro","sequence":"first","affiliation":[{"name":"Universidade do Porto Faculdade de Engenharia"}]},{"given":"Francisco Soares Pinto","family":"Neves","sequence":"additional","affiliation":[{"name":"Universidade do Porto Faculdade de Engenharia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2465-5813","authenticated-orcid":true,"given":"Andry Maykol Gomes","family":"Pinto","sequence":"additional","affiliation":[{"name":"Universidade do Porto Faculdade de Engenharia"}]}],"member":"311","container-title":[],"original-title":[],"deposited":{"date-parts":[[2024,6,25]],"date-time":"2024-06-25T08:46:52Z","timestamp":1719305212000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.authorea.com\/users\/797641\/articles\/1144772-a-multimodal-perception-system-for-precise-landing-of-uavs-in-offshore-environments?commit=d73235337a440a0d75d55ac15b70fca05d726224"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,6,25]]},"references-count":0,"URL":"https:\/\/doi.org\/10.22541\/au.171930520.02297057\/v1","relation":{},"subject":[],"published":{"date-parts":[[2024,6,25]]},"subtype":"preprint"}}