Optimizing Terrain Mapping and Landing Site Detection for Autonomous UAVs
Pedro F. Proença,Jeff Delaune,Rol,Brockers,Pedro F. Proença,Jeff Delaune,Rol,Brockers
The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection. Structure-from-Motion measurements are aggregated in a pyramid structure using a novel Optimal Mixture of Gaus-sians formulation that provides a comprehensive unce...
