  In this paper we present a vision based hardware-software control system
enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It
allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60
fps video stream. In addition, a LiDAR sensor is used to measure the altitude
above ground. A heterogeneous Zynq SoC device is used as the computing
platform. The solution was tested on a number of sequences and the landing pad
was detected with 96% accuracy. This research shows that a reprogrammable
heterogeneous computing system is a good solution for UAVs because it enables
real-time data stream processing with relatively low energy consumption.
