Semantics based safe landing area detection for an unmanned vehicle

摘要

A method for determining a suitable landing area for an aircraft includes receiving signals indicative of Light Detection And Ranging (LIDAR) information for a terrain via a LIDAR perception system; receiving signals indicative of image information for the terrain via a camera perception system; evaluating, with the processor, the LIDAR information and generating information indicative of a LIDAR landing zone candidate region; co-registering in a coordinate system, with the processor, the LIDAR landing zone candidate region and the image information; segmenting, with the processor, the co-registered image and the LIDAR landing zone candidate region to generate segmented regions; classifying, with the processor, the segmented regions into semantic classes; determining, with the processor, contextual information in the semantic classes; and ranking and prioritizing the contextual information.

主权项

1. A method for determining a suitable landing area for an aircraft, comprising:
receiving signals indicative of terrain information for a terrain via a three-dimension (3D) perception system; receiving signals indicative of image information for the terrain via a camera perception system, the image information separate from the terrain information; evaluating, with the processor, the terrain information and generating information indicative of a landing zone candidate region; co-registering in a coordinate system, with the processor, the landing zone candidate region and the image information; segmenting, with the processor, an image region from the image information corresponding to the landing zone candidate region to generate segmented regions; classifying, with the processor, the segmented regions into semantic classes; determining, with the processor, contextual information from a contextual model and using the contextual information to detect an error in at least one semantic classes; and ranking and prioritizing the semantic classes.