S. Bosch, S. Lacroix, F. Caballero. Autonomous detection of safe landing areas for an UAV from monocular images. In IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing (China), 2006.
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This paper presents an approach to detect safe landing areas for a flying robot, on the basis of a sequence of monocular images. The approach does not require precise position and attitude sensors: it exploits the relations between 2D image homographies and 3D planes. The combination of a robust homography estimation and of an adaptive thresholding of correlation scores between registered images yields the update of a stochastic grid, that exhibits the horizontal planar areas perceived. This grid allows the integration of data gathered at various altitudes. Results are presented throughout the article
[ Slam ]
S. Bosch
S. Lacroix
F. Caballero
@InProceedings{BOSCH-IROS-2006,
Author = {Bosch, S. and Lacroix, S. and Caballero, F.},
Title = {Autonomous detection of safe landing areas for an {UAV} from monocular images},
BookTitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing (China)},
Month = {},
Year = {2006}
}
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