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The four-rotor unmanned aerial vehicle (UAV) has many advantages such as low cost, vertical take-off and landing, good maneuverability. It has been widely used in civilian fields such as aerial photography, plant protection, logistics and power inspection. With the popularization of four-rotor unmanned aerial vehicles, some new problems have arisen. One of the problems is how to improve landing precision and reliability of the UAVs, especially in the over-the-horizon application scenario the demand is particularly prominent. With the use of computer vision technology, the four-rotor unmanned aerial vehicle can be controlled to achieve high precision autonomous landing with the visual recognition software developed by LabVIEW Vision.