Hello mate,
Not trying to self promote here, but this extremely relevant ROS tutorial was written some weeks ago. [Check it out!](
http://wiki.ros.org/Tutorials/Landing%20an%20autonomous%20UAV%20on%20a%20moving%20platform%20using%20only%20a%20front%20facing%20camera) (Oh, and keep in mind that you should use [ROS answers](
https://answers.ros.org/) for such questions instead of discourse!)
Have fun,
George
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