Fig. 1. Runway detection and recognition in sequence images

Fig. 2. Error between points and lines

Fig. 3. Experimental dataset

Fig. 4. Comparison of candidate region extraction methods

Fig. 5. Influence of detected line length integrity

Fig. 6. Tested points and lines

Fig. 7. Influence of each feature point and line on pose estimation

Fig. 8. Comparison of influence of noise on pose estimation algorithms

Fig. 9. Change of pose parameter error relative to distance between UAV and runway