Fig. 4. Experimental setup (offsets) and result (success & time-to-perch) of each trial with the physical prototype.

a, b Table of initial target pose estimation offsets (x and y position and angle θ for yaw and inclination) for all trials with the cylindrical and T-Bar perching target, respectively. The trials highlighted in bold are further visualized in Fig. 5. c Time series data of the MAV's x position and yaw angle, showcasing all trials aligning with and converging to the target pose. The data are normalized to have the target pose at the origin. Note that the data is normalized such that the approach happens entirely along the x axis. The black dots indicate when a trial has successfully reached the perching state.