Publication:
Image segmentation based emergency landing for autonomous and automated unmanned aerial vehicles

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cris.virtual.departmentFraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI
cris.virtual.departmentFraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI
cris.virtual.departmentFraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI
cris.virtual.orcid#PLACEHOLDER_PARENT_METADATA_VALUE#
cris.virtual.orcid#PLACEHOLDER_PARENT_METADATA_VALUE#
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cris.virtualsource.department9dfe9b05-b035-4dbb-9c72-84fff4402b1b
cris.virtualsource.department194d6f21-2696-46f0-a4f1-b3b0601959b2
cris.virtualsource.departmentbe631d3e-5a91-4212-9f61-fd2e0653b5c5
cris.virtualsource.orcid9dfe9b05-b035-4dbb-9c72-84fff4402b1b
cris.virtualsource.orcid194d6f21-2696-46f0-a4f1-b3b0601959b2
cris.virtualsource.orcidbe631d3e-5a91-4212-9f61-fd2e0653b5c5
crisevent.organizerouFTF - The Swedish Society of Aeronautics and Astronautics
crisou.acronymIVI
dc.contributor.authorHausmann, Philip
dc.contributor.authorMeeß, Henri
dc.contributor.authorElger, Gordon
dc.date.accessioned2023-04-21T06:01:30Z
dc.date.available2023-04-21T06:01:30Z
dc.date.issued2022
dc.description.abstractThe growing application of unmanned aerial vehicles (UAVs) into diverse commercial and private applications entails serious risks and respectively requires regulations. The development towards autonomously flying drones enforces this need and justifies the development of additional safety levels. Therefore, this work presents an emergency landing operation which is able to identify safe landing spots for both the environment, as well as the UAV, using neural networks (NNs) to segment the image of a downward-facing camera. This image is projected onto the ground plane conserving metric scaling. The landing control is administered by a Behavior Tree (BT). Thereby, a fully autonomous emergency landing without any communication to the ground control, predefined safe landing spots or detailed maps with corresponding location is enabled. A software-in-the-loop (SIL) setup is implemented in which it is possible to conduct a safe emergency landing operation. Additionally, multiple real world test flights have been conducted gathering data to evaluate this method.
dc.identifier.urihttps://publica.fraunhofer.de/handle/publica/440398
dc.language.isoen
dc.relation.conferenceInternational Council of the Aeronautical Sciences (Congress) 2022
dc.relation.doi#PLACEHOLDER_PARENT_METADATA_VALUE#
dc.relation.isbn#PLACEHOLDER_PARENT_METADATA_VALUE#
dc.relation.publication33th Congress of the International Council of the Aeronautical Sciences, ICAS 2022. Proceedings. Online resource
dc.subjectunmanned aerial vehicle
dc.subjectsemantic segmentation
dc.subjectemergency landing operation
dc.subjectvision-based navigation
dc.subjectimage processing
dc.titleImage segmentation based emergency landing for autonomous and automated unmanned aerial vehicles
dc.typeconference paper
dspace.entity.typePublication
oairecerif.acronymICAS
oairecerif.author.affiliationTechnische Hochschule Ingolstadt
oairecerif.author.affiliationFraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI
oairecerif.author.affiliationFraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI
oairecerif.event.endDate2022-09-09
oairecerif.event.placeStockholm
oairecerif.event.startDate2022-09-04
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publica.author.alternativeaffiliationFraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI
publica.author.alternativeaffiliation#PLACEHOLDER_PARENT_METADATA_VALUE#
publica.author.alternativeaffiliationTechnische Hochschule Ingolstadt
publica.contributor.corresponding#PLACEHOLDER_PARENT_METADATA_VALUE#
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publica.description.pagecount11 S.
publica.event.number33
publica.fhg.departmentFraunhofer-Anwendungszentrum »Vernetzte Mobilität und Infrastruktur«
publica.fhg.instituteFraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI
publica.fhg.institute-controller-groupbd4fc81b-d703-44e6-a432-c59faef2262d
publica.fhg.locationnone
publica.identifier.urihttps://www.icas.org/ICAS_ARCHIVE/ICAS2022/data/preview/ICAS2022_0725.htm
publica.mainwork.editorInternational Council of the Aeronautical Sciences (ICAS)
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