Landing spot selection for UAV emergency landing

摘要

We present a robust method for landing zone selection using obstacle detection to be used for UAV emergency landings. The method is simple enough to allow real-time implementation on a UAV system. The method is able to detect objects in the presence of camera movement and motion parallax. Using the detected obstacles we select a safe landing zone for the UAV. The motion and structure detection uses background estimation of stabilized video. The background variation is measured and used to enhance the moving objects if necessary. In the motion and structure map a distance transform is calculated to find a suitable location for landing.