Abstract: The present invention relates to an automatic recovery method for an unmanned aerial vehicle (UAV), and more particularly to a vision-based automatic recovery method for an unmanned aerial vehicle (UAV) using a reference trajectory, in which information from a front vision camera and information from navigation equipment embedded in the unmanned aerial vehicle are combined by a weighting method. The vision-based automatic recovery method using a reference trajectory for an unmanned aerial vehicle includes a reference trajectory generating step of generating the reference trajectory connecting an align point and a recovery point on an on-board based on the recovery point given to the unmanned aerial vehicle through wireless communication; an image processing step of taking an image containing a symbol (e.g.