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A survey of safe landing zone detection techniques for autonomous unmanned aerial vehicles (UAVs)

机译：自主无人航空公司安全着陆区检测技术调查（无人机）

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The age of automation is upon us. Few decades earlier, nearly all the flying vehicles were human-controlled. Nowadays, almost every air vehicle is partially automated or getting closer to full automation. This race towards full automation has led to the introduction of features like autopilot. Unmanned aerial vehicles (UAVs) are the tiniest version of all types of air vehicles. The widespread usage of autonomous UAVs has spawned the need for safe landing zone (SLZ) detection techniques for UAV landing. A SLZ detection becomes an important face of a mission when the UAV needs emergency landing due to the technical difficulties or adverse weather conditions on the way of its operation. Before directly proceeding for landing, a UAV has to decide whether the landing zones are safe or not. On-board visual sensors provide potential information of the ground surface in the form of image or signal. Different image processing and safe landing area detection (SLAD) algorithms are then used to identify the best possible landing sites from the input data. In this survey, we discuss indoor and outdoor landing zone detection techniques. We further classify outdoor landing zones as either static or dynamic and discuss existing literature in the specific categories. We critique the shortcomings of existing SLZ detection techniques while also acknowledging their contributions. Further, we point to potential areas of improvement and future directions of the safe landing zone detection algorithms we surveyed. This survey paper may be a useful tutorial for understanding the types of landing zones and landing zone detection techniques for the UAVs, the strengths of zone detection algorithms, and the open areas for future improvement and research.
机译：自动化的时代就在我们身上。几十年早些时候，几乎所有的飞行车辆都是人类控制的。如今，几乎每个航空公司都是完全自动化的或更接近完全自动化。这场完全自动化的比赛导致了自动驾驶仪等功能。无人驾驶飞行器（无人机）是所有类型的航空器中最有效的版本。自主无人机的广泛使用产生了对UAV着陆的安全起落区（SLZ）检测技术的需求。 SLZ检测成为特派团的重要面孔，当由于技术困难或运行方式的恶劣天气条件，无人机需要紧急降落。在直接进行着陆之前，UAV必须决定着陆区域是否安全。板载视觉传感器以图像或信号的形式提供地面的潜在信息。然后，使用不同的图像处理和安全着陆区域检测（SLAD）算法来识别来自输入数据的最佳可能的着陆位点。在本调查中，我们讨论室内和室外着陆区检测技术。我们进一步将户外着陆区分类为静态或动态，并在特定类别中讨论现有文献。我们批判现有SLZ检测技术的缺点，同时也承认其贡献。此外，我们指出了我们调查的安全着陆区检测算法的潜在改善和未来方向。本调查纸可能是理解无人机的着陆区类型和着陆区检测技术的有用教程，区域检测算法的优势，以及未来改善和研究的开放区域。

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