3D Mapping and Landing Zone Identification in Complex Terrains Using DSM and Photogrammetry

Autonomous Aerial Vehicles (AAVs) have evolved into important assets across diverse industries, owing to their remarkable versatility and adeptness in undertaking a broad spectrum of tasks. AAVs capacity for autonomous landing further enhances their utility, allowing for precise and efficient operations in various environments. This paper presents a landing area identification system for AAVs utilizing digital surface maps from onboard cameras. These maps serve as a primary reference for precise trajectory planning and obstacle avoidance during landing and photogrammetry techniques are used to refine spatial awareness, enabling dynamic adjustments. This work incorporates computer vision algorithms for the interpretation of maps and photogrammetric data, making a decision regarding altitude, approach angle, and lateral adjustments during the landing process. Validation through mathematical models demonstrates the system's effectiveness in achieving precise landings across diverse scenarios. The presented system, combining digital surface maps and photogrammetry, offers a viable solution for AAVs, improving landing accuracy in complex environments.