Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes

02/25/2018
by   Timo Hinzmann, et al.
0

Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency situations. In this work, we propose a perception system addressing this challenge by detecting landing sites based on their texture and geometric shape without using any prior knowledge about the environment. The proposed method considers hazards within the landing region such as terrain roughness and slope, surrounding obstacles that obscure the landing approach path, and the local wind field that is estimated by the on-board EKF. The latter enables applicability of the proposed method on small-scale autonomous planes without landing gear. A safe approach path is computed based on the UAV dynamics, expected state estimation and actuator uncertainty, and the on-board computed elevation map. The proposed framework has been successfully tested on photo-realistic synthetic datasets and in challenging real-world environments.

READ FULL TEXT

page 1

page 3

page 7

page 8

research
09/15/2018

Vision-based Autonomous Landing in Catastrophe-Struck Environments

Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-savin...
research
11/11/2021

Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft

In this paper, we propose a resource-efficient approach to provide an au...
research
07/14/2021

Potential UAV Landing Sites Detection through Digital Elevation Models Analysis

In this paper, a simple technique for Unmanned Aerial Vehicles (UAVs) po...
research
05/07/2022

Optimizing Terrain Mapping and Landing Site Detection for Autonomous UAVs

The next generation of Mars rotorcrafts requires on-board autonomous haz...
research
08/02/2023

Height Change Feature Based Free Space Detection

In the context of autonomous forklifts, ensuring non-collision during tr...
research
03/25/2022

Visual-based Safe Landing for UAVs in Populated Areas: Real-time Validation in Virtual Environments

Safe autonomous landing for Unmanned Aerial Vehicles (UAVs) in populated...
research
04/30/2023

Leveraging 5G private networks, UAVs and robots to detect and combat broad-leaved dock (Rumex obtusifolius) in feed production

In this paper an autonomous system to detect and combat Rumex obtusifoli...

Please sign up or login with your details

Forgot password? Click here to reset