Line Following with End-of-Line Detection & Landing

Overview

• A vision guided flight along a taped line: the drone tracks the path with its downward camera, recognizes the end-of-line marker, and executes an autonomous landing at the path's end.

Design & Build

• Line tracking: Frames stream YUV from the camera and convert to RGB; a color threshold isolates the line, a median filter cleans the mask, and blob analysis returns the centroid whose offset from the image center steers the drone.
• End detection: The end-of-line marker triggers the switch from path following to the landing sequence.
• Landing: A controlled descent puts the drone down at the end of the path.

Challenges

• Keeping the narrow line in frame against drift and vibration.
• Distinguishing the end marker from the line reliably.

Result

• Full detect, follow, land behavior demonstrated end to end on real hardware.

Skills & Tools