Enabling Aircraft Emergency Landings Using Active Visual Site Detection

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• 作者：Michael Warren (6)
  Luis Mejias (6)
  Xilin Yang (6)
  Bilal Arain (6)
  Felipe Gonzalez (6)
  Ben Upcroft (6)
  
• 刊名：Springer Tracts in Advanced Robotics
• 出版年：2015
• 出版时间：2015
• 年：2015
• 卷：105
• 期：1
• 页码：167-181
• 全文大小：4,700 KB
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• 作者单位：Michael Warren (6)
  Luis Mejias (6)
  Xilin Yang (6)
  Bilal Arain (6)
  Felipe Gonzalez (6)
  Ben Upcroft (6)
  
  6. Australian Research Centre for Aerospace Automation (ARCAA), Queensland University of Technology, Brisbane, Australia
  
• ISSN：1610-742X

文摘

The ability to automate forced landings in an emergency such as engine failure is an essential ability to improve the safety of Unmanned Aerial Vehicles operating in General Aviation airspace. By using active vision to detect safe landing zones below the aircraft, the reliability and safety of such systems is vastly improved by gathering up-to-the-minute information about the ground environment. This paper presents the Site Detection System, a methodology utilising a downward facing camera to analyse the ground environment in both 2D and 3D, detect safe landing sites and characterise them according to size, shape, slope and nearby obstacles. A methodology is presented showing the fusion of landing site detection from 2D imagery with a coarse Digital Elevation Map and dense 3D reconstructions using INS-aided Structure-from-Motion to improve accuracy. Results are presented from an experimental flight showing the precision/recall of landing sites in comparison to a hand-classified ground truth, and improved performance with the integration of 3D analysis from visual Structure-from-Motion.