简介：Theaccuratedetectionofcooperativetargetsplaysakeyandfoundationalroleinunmannedaerialvehicle(UAV)landingautonomously.Thestandardmethodbasedonfixedthresholdistoosusceptibletobothilluminationvariationsandinterference.Toovercomeissuesabove,arobustdetectionalgorithmwithtripleconstraintsforcooperativetargetsbasedonspectralresidual(TCSR)isproposed.Firstly,bydesigninganasymmetriccooperativetarget,whichcomprisesredbackground,greenHandtriangletarget,thecapturedoriginalimageisconvertedintoaLabcolorspace,whosesaliencymapisyieldedbyconstructingthespectralresidual.Then,thetripleconstraintsaredevelopedaccordingtothepriorknowledgeofthecooperativetarget.Finally,thesalientregioninsaliencymapisconsideredasthecooperativetarget,anditmeetsthetripleconstraints.ExperimentalresultsincomplexenvironmentsshowthattheproposedTCSRoutperformsthestandardmethodsinhigherdetectionaccuracyandlowerfalsealarmrate.