数据采集与处理2024，Vol.39Issue(6)：1445-1454,10.DOI:10.16337/j.1004-9037.2024.06.013
基于机载视频的无人机降落区域检测研究
Unmanned Aerial Vehicle Landing Area Detection Based on Onboard Video
摘要
Abstract
Improving the autonomous landing capability of unmanned aerial vehicles(UAVs)holds significant importance in enhancing their operational efficiency and survival ability in the field.This paper presents a novel approach utilizing onboard video for automatic detection of UAV landing zones,aiming to enhance the UAV's autonomous obstacle avoidance and landing capabilities in the absence of prior scene knowledge.We integrate a deep learning network incorporating multi-view geometric constraint methods into the simultaneous localization and mapping(SLAM)algorithm,aiming to construct a three-dimensional map of the scene while actively identifying potential obstacles.Subsequently,we propose a landing area detection algorithm that takes into account factors such as landing area and flatness.By conducting spatial analysis on voxel grid maps,we can identify the landing area of UAVs.This algorithm utilizes spatial analysis on a voxel grid map to identify the suitable landing area for the UAV.Experimental evaluation is conducted in various scenarios,demonstrating the accuracy of the proposed approach.关键词
无人机/降落区域检测/动态场景/目标检测/同步定位与制图Key words
unmanned aerial vehicle/landing area detection/dynamic scene/object detection/simultaneous localization and mapping分类
信息技术与安全科学引用本文复制引用
曹亚楠,李明磊,李佳,陈广永,叶方舟..基于机载视频的无人机降落区域检测研究[J].数据采集与处理,2024,39(6):1445-1454,10.基金项目
国家自然科学基金(42271343). （42271343）
