Image processing based autonomous landing zone detection for a multi-rotor drone in emergency situations

Basit Öğe Kaydı
dc.contributor.authorTuran, Veysel
dc.contributor.authorAvşar, Ercan
dc.contributor.authorAsadihendoustani, Davood
dc.contributor.authorAydın, Emine Avşar
dc.date.accessioned2025-01-06T17:30:24Z
dc.date.available2025-01-06T17:30:24Z
dc.date.issued2021
dc.description.abstractFlight safety and reliability improvement is an important research issue in aerial applications. Multi-rotor drones are vulnerable to motor failures leading to potentially unsafe operations or collisions. Therefore, researchers are working on autonomous landing systems to safely recover and land the faulty drone in on a desired landing area. In such a case, a suitable landing zone should be detected rapidly in for emergency landing. Majority of the works related with autonomous landing utilize a marker and GPS signals to detect landing site. In this work, we propose a landing system framework that involves only the processing of images taken from the onboard camera of the vehicle. First, the objects in the image are determined by filtering and edge detection algorithm, then the most suitable landing zone is searched. The area that is free from obstacles and closest to the center of the image is defined as the most immediate and suitable landing zone. The method has been tested on 25 images taken from different heights and its performance has been evaluated in terms runtime on a single board computer and detection precision and recall values. The average measured runtime is 2.4923 seconds and 100% of precision and recall values are achieved for the images taken from 1m and 2m. The smallest precision and recall values are 79.1% and 81.2%, respectively. © Author(s) 2021.
dc.description.sponsorshipScientific Research Project Unit of Adana Alparslan Türkeş Science and Technology University, (19119001)
dc.identifier.doi10.31127/tuje.744954
dc.identifier.endpage200
dc.identifier.issn2587-1366
dc.identifier.issue4
dc.identifier.scopus2-s2.0-85134704622
dc.identifier.scopusqualityQ3
dc.identifier.startpage193
dc.identifier.trdizinid529409
dc.identifier.urihttps://doi.org/10.31127/tuje.744954
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay/529409
dc.identifier.urihttps://hdl.handle.net/20.500.14669/1581
dc.identifier.volume5
dc.indekslendigikaynakScopus
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.publisherMurat Yakar
dc.relation.ispartofTurkish Journal of Engineering
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_20241211
dc.subjectAutonomus landing
dc.subjectImage processing
dc.subjectObject detection
dc.subjectUAV
dc.titleImage processing based autonomous landing zone detection for a multi-rotor drone in emergency situations
dc.typeArticle

Dosyalar

Koleksiyon

Scopus İndeksli Yayınlar Koleksiyonu
TR-Dizin İndeksli Yayınlar Koleksiyonu