Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft
Pascal Schoppmann,Pedro F. Proença,Jeff Delaune,Michael Pantic,Timo Hinzmann,Larry Matthies,Roland Siegwart,Roland Brockers,Pascal Schoppmann,Pedro F. Proença,Jeff Delaune,Michael Pantic,Timo Hinzmann,Larry Matthies,Roland Siegwart,Roland Brockers
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired from a sequence of monocular images by a Structure-from-Motion approach into a local, robot-centric, multi-resolution elevation map of the overflown terrain, wh...
