%0 Conference Proceedings
%F BOSCH-IROS-2006
%A Bosch, S.
%A Lacroix, S.
%A Caballero, F.
%T Autonomous detection of safe landing areas for an {UAV} from monocular images
%B IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing (China)
%X 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
%U http://homepages.laas.fr/simon/publis/BOSCH-IROS-2006.pdf
%8 
%D 2006
%K  slam