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In this paper, we propose a resource-efficient approach to provide anautonomous UAV with an on-board perception method to detect safe, hazard-freelanding sites during flights over complex 3D terrain. We aggregate 3Dmeasurements acquired from a sequence of monocular images by aStructure-from-Motion approach into a local, robot-centric, multi-resolutionelevation map of the overflown terrain, which fuses depth measurementsaccording to their lateral surface resolution (pixel-footprint) in aprobabilistic framework based on the concept of dynamic Level of Detail. Mapaggregation only requires depth maps and the associated poses, which areobtained from an onboard Visual Odometry algorithm. An efficient landing sitedetection method then exploits the features of the underlying multi-resolutionmap to detect safe landing sites based on slope, roughness, and quality of thereconstructed terrain surface. The evaluation of the performance of the mappingand landing site detection modules are analyzed independently and jointly insimulated and real-world experiments in order to establish the efficacy of theproposed approach.

Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft