Machine Vision and Applications

, Volume 25, Issue 1, pp 211–227 | Cite as

Real-time landing place assessment in man-made environments

  • Xiaolu SunEmail author
  • C. Mario Christoudias
  • Vincent Lepetit
  • Pascal Fua
Original Paper


We propose a novel approach to the real-time landing site detection and assessment in unconstrained man-made environments using passive sensors. Because this task must be performed in a few seconds or less, existing methods are often limited to simple local intensity and edge variation cues. By contrast, we show how to efficiently take into account the potential sites’ global shape, which is a critical cue in man-made scenes. Our method relies on a new segmentation algorithm and shape regularity measure to look for polygonal regions in video sequences. In this way, we enforce both temporal consistency and geometric regularity, resulting in very reliable and consistent detections. We demonstrate our approach for the detection of landable sites such as rural fields, building rooftops and runways from color and infrared monocular sequences significantly outperforming the state-of-the-art.


Automated landing Hazard detection Component tree Image segmentation Shape analysis 

Supplementary material

Supplementary material 1 (mp4 1065 KB)

Supplementary material 2 (mp4 4151 KB)

138_2013_560_MOESM3_ESM.htm (4 kb)
Supplementary material 3 (htm 5 KB)

Supplementary material 4 (mp4 4055 KB)

Supplementary material 5 (mp4 2510 KB)

Supplementary material 6 (mp4 1807 KB)


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Xiaolu Sun
    • 1
    Email author
  • C. Mario Christoudias
    • 1
  • Vincent Lepetit
    • 1
  • Pascal Fua
    • 1
  1. 1.Ecole de Polytechnique de LausanneLausanneSwitzerland

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