The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi- resolution height map reconstruction and safe landing spot detection. Structure-from-Motion measurements are aggregated in a pyramid structure using a novel Optimal Mixture of Gaus- sians formulation that provides a comprehensive uncertainty model. Our multiresolution pyramid is built more efficiently and accurately than past work by decoupling pyramid filling from the measurement updates of different resolutions.To detect the safest landing location, after an optimized hazard segmentation, we use a mean shift algorithm on multiple distance transform peaks to account for terrain roughness and uncertainty. The benefits of our contributions are evaluated on real and synthetic flight data.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Optimizing Terrain Mapping and Landing Site Detection for Autonomous UAVs



    Publication date :

    2022-05-23


    Type of media :

    Preprint


    Type of material :

    No indication


    Language :

    English



    UNMANNED AERIAL SYSTEM (UAS) AUTONOMOUS TERRAIN MAPPING AND LANDING SITE DETECTION

    BROCKERS ROLAND / DUARTE LOPES MASCARENHAS PROENÇA PEDRO / SCHOPPMANN PASCAL et al. | European Patent Office | 2023

    Free access

    Terrain-based landing site selection and path planning for fixed-wing UAVs

    Garg, Mayank / Kumar, Abhishek / Sujit, P.B. | IEEE | 2015


    Research on Landing Attitude Control of Terrain Adaptive UAVs

    Ni, Xinlei / Yin, Qiaozhi / Zhong, Peilin et al. | Springer Verlag | 2024


    A survey of autonomous landing techniques for UAVs

    Gautam, Alvika / Sujit, P.B. / Saripalli, Srikanth | IEEE | 2014


    Robust Autonomous Landing of Fixed-Wing UAVs in Wind

    Fridén, Tobias | BASE | 2020

    Free access