在本文中，我们提出了一种基于视觉的硬件-软件控制系统，使自主着陆的多旋翼无人机（UAV）。它允许对1280 x 720@60 fps视频流实时的【形】检测标记的着陆垫。此外，激光雷达传感器用于测量地面以上的高度。异构Zynq SoC设备被用作计算平台。该解决方案在多个序列上进行了测试，着陆垫的检测准确率为96%。该研究表明，可重编程异构计算系统是一个很好的解决方案，无人机，因为它使实时的【形】数据流处理，相对较低的能耗。
英文摘要：
In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video stream. In addition, a LiDAR sensor is used to measure the altitude above ground. A heterogeneous Zynq SoC device is used as the computing platform. The solution was tested on a number of sequences and the landing pad was detected with 96% accuracy. This research shows that a reprogrammable heterogeneous computing system is a good solution for UAVs because it enables real-time data stream processing with relatively low energy consumption.
AeroLite-MDNet: Lightweight Multi-task Deviation Detection Network for UAV Landing
Institute of Cyberspace Security, Zhejiang University of Technology（浙江工业大学网络安全学院）；College of Computer Science and Technology, Zhejiang University of Technology（浙江工业大学计算机科学与技术学院）；College of Geoinformatics, Zhejiang University of Technology（浙江工业大学地理信息学院）；Binjiang Institute of Artificial Intelligence, ZJUT（滨江人工智能研究院）；Quzhou Southeast Digital Economic Development Institute（庆州东南数字经济研究院）
Visual-based Safe Landing for UAVs in Populated Areas: Real-time Validation in Virtual Environments
Universidad Autónoma de Ciudad Juárez UACJ（华雷斯自治大学）；Center for Research in Mathematics CIMAT AC（数学研究中心CIMAT AC）；University of Texas at El Paso（德克萨斯大学埃尔帕索分校）
A Multimodal Large Language Model-Driven Framework for Context-Aware UAV Emergency Landing Site Selection
School of Information Science and Engineering, Southeast University（信息科学与工程学院，东南大学）；LASER, International Digital Economy Academy（LASER，国际数字经济学院）；Department of Electronic Engineering, East China Normal University（电子工程系，华东师范大学）
A Multimodal Learning-based Approach for Autonomous Landing of UAV
Faculty of Engineering of University of Porto (FEUP)（波尔图大学工程学院）；Institute for Systems and Computer Engineering - Technology and Science (INESC TEC)（系统与计算机工程 - 技术与科学研究所）
An Experimental Study of Trojan Vulnerabilities in UAV Autonomous Landing
Department of Electrical and Computer Engineering at North Carolina A&T State University（北卡罗来纳A&T州立大学电气与计算机工程系）；University of Alabama（阿拉巴马大学）；Department of Electrical and Computer Engineering, Windsor University（温莎大学电气与计算机工程系）
Risk Assessment for Autonomous Landing in Urban Environments using Semantic Segmentation
Center for Research in Mathematics, CIMAT AC（墨西哥数学研究中心（CIMAT AC））；Centro de Investigación en Matemáticas, A.C.（墨西哥数学研究中心）；Centro de Investigaciones en Óptica, A.C.（墨西哥光学研究中心）；CONAHCYT（墨西哥国家科学技术委员会）
