{"id":"https://openalex.org/W4416640544","doi":"https://doi.org/10.1016/j.procs.2025.10.206","title":"ESLS: A Vision-Based Emergency Safe Landing System for UAVs","display_name":"ESLS: A Vision-Based Emergency Safe Landing System for UAVs","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416640544","doi":"https://doi.org/10.1016/j.procs.2025.10.206"},"language":"en","primary_location":{"id":"doi:10.1016/j.procs.2025.10.206","doi":"https://doi.org/10.1016/j.procs.2025.10.206","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.procs.2025.10.206","pdf_url":null,"source":{"id":"https://openalex.org/S120348307","display_name":"Procedia Computer Science","issn_l":"1877-0509","issn":["1877-0509"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Procedia Computer Science","raw_type":"journal-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1016/j.procs.2025.10.206","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080769311","display_name":"Ahmad Merei","orcid":"https://orcid.org/0000-0002-3984-6578","observed_orcids":["https://orcid.org/0000-0002-3984-6578"]},"institutions":[{"id":"https://openalex.org/I104914703","display_name":"Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi","ror":"https://ror.org/00y3hzd62","country_code":"CA","type":"education","lineage":["https://openalex.org/I104914703","https://openalex.org/I49663120"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]},{"id":"https://openalex.org/I49663120","display_name":"Universit\u00e9 du Qu\u00e9bec","ror":"https://ror.org/010gxg263","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ahmad Merei","raw_affiliation_strings":["Department of Computer Engineering and Software Engineering, Polytechnique Montr\u00e9al, Chemin de Polytechnique, Montr\u00e9al, Qu\u00e9bec H3T 1J4, Canada","Department of Computer Science and Mathematics, University of Quebec at Chicoutimi, 555 University Boulevard, Chicoutimi, Quebec G7H 2B1, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering and Software Engineering, Polytechnique Montr\u00e9al, Chemin de Polytechnique, Montr\u00e9al, Qu\u00e9bec H3T 1J4, Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"Department of Computer Science and Mathematics, University of Quebec at Chicoutimi, 555 University Boulevard, Chicoutimi, Quebec G7H 2B1, Canada","institution_ids":["https://openalex.org/I104914703","https://openalex.org/I49663120"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058398832","display_name":"Hamid Mcheick","orcid":"https://orcid.org/0000-0002-2589-8609","observed_orcids":["https://orcid.org/0000-0002-2589-8609"]},"institutions":[{"id":"https://openalex.org/I104914703","display_name":"Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi","ror":"https://ror.org/00y3hzd62","country_code":"CA","type":"education","lineage":["https://openalex.org/I104914703","https://openalex.org/I49663120"]},{"id":"https://openalex.org/I49663120","display_name":"Universit\u00e9 du Qu\u00e9bec","ror":"https://ror.org/010gxg263","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hamid Mcheick","raw_affiliation_strings":["Department of Computer Science and Mathematics, University of Quebec at Chicoutimi, 555 University Boulevard, Chicoutimi, Quebec G7H 2B1, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Mathematics, University of Quebec at Chicoutimi, 555 University Boulevard, Chicoutimi, Quebec G7H 2B1, Canada","institution_ids":["https://openalex.org/I104914703","https://openalex.org/I49663120"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037632409","display_name":"Alia Ghaddar","orcid":"https://orcid.org/0000-0003-1363-6174","observed_orcids":["https://orcid.org/0000-0003-1363-6174"]},"institutions":[{"id":"https://openalex.org/I4210104393","display_name":"International University of Beirut","ror":"https://ror.org/01fjkp854","country_code":"LB","type":"education","lineage":["https://openalex.org/I4210104393"]},{"id":"https://openalex.org/I911468752","display_name":"Lebanese International University","ror":"https://ror.org/034agrd14","country_code":"LB","type":"education","lineage":["https://openalex.org/I911468752"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Alia Ghaddar","raw_affiliation_strings":["Department of Computer Science, Lebanese International University, Khiyarah Bekaa, Alkhiyarah P.O. Box 146404, Bekaa Lebanon","Department of Computer Science, The International University of Beirut, Mouseitbeh, Mazraa, PO Box: 146404, Beirut, Lebanon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Lebanese International University, Khiyarah Bekaa, Alkhiyarah P.O. Box 146404, Bekaa Lebanon","institution_ids":["https://openalex.org/I911468752"]},{"raw_affiliation_string":"Department of Computer Science, The International University of Beirut, Mouseitbeh, Mazraa, PO Box: 146404, Beirut, Lebanon","institution_ids":["https://openalex.org/I4210104393"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021953451","display_name":"Giovanni Beltrame","orcid":"https://orcid.org/0000-0001-9755-8630","observed_orcids":["https://orcid.org/0000-0001-9755-8630"]},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Giovanni Beltrame","raw_affiliation_strings":["Department of Computer Engineering and Software Engineering, Polytechnique Montr\u00e9al, Chemin de Polytechnique, Montr\u00e9al, Qu\u00e9bec H3T 1J4, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering and Software Engineering, Polytechnique Montr\u00e9al, Chemin de Polytechnique, Montr\u00e9al, Qu\u00e9bec H3T 1J4, Canada","institution_ids":["https://openalex.org/I45683168"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5080769311"],"corresponding_institution_ids":["https://openalex.org/I104914703","https://openalex.org/I45683168","https://openalex.org/I49663120"],"apc_list":null,"apc_paid":null,"fwci":1.7233,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.88168296,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"272","issue":null,"first_page":"277","last_page":"285"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9667999744415283,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9667999744415283,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.026100000366568565,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0007999999797903001,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/unmanned-aerial-vehicles","display_name":"unmanned aerial vehicles","score":0.5220000147819519},{"id":"https://openalex.org/keywords/vision-based-landing","display_name":"vision-based landing","score":0.5249999761581421},{"id":"https://openalex.org/keywords/gps-denied-navigation","display_name":"GPS-denied navigation","score":0.7590000033378601},{"id":"https://openalex.org/keywords/visual-inertial-odometry","display_name":"visual-inertial odometry","score":0.9980000257492065},{"id":"https://openalex.org/keywords/rgb-d-camera","display_name":"RGB-D camera","score":0.7329999804496765},{"id":"https://openalex.org/keywords/occupancy-grid","display_name":"occupancy grid","score":0.7459999918937683},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"search and rescue","score":0.9890000224113464},{"id":"https://openalex.org/keywords/cluttered-environments","display_name":"cluttered environments","score":0.7450000047683716},{"id":"https://openalex.org/keywords/medical-supply-delivery","display_name":"medical supply delivery","score":0.5450000166893005}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.822700023651123},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6014999747276306},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5493000149726868},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5091000199317932},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4918999969959259},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4284000098705292},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.38999998569488525},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.38839998841285706},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3644999861717224},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.3402000069618225},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32989999651908875},{"id":"https://openalex.org/C2778309149","wikidata":"https://www.wikidata.org/wiki/Q606332","display_name":"Emergency evacuation","level":2,"score":0.31839999556541443},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.30820000171661377},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2912999987602234},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2904999852180481},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.28870001435279846},{"id":"https://openalex.org/C3020384686","wikidata":"https://www.wikidata.org/wiki/Q814610","display_name":"Emergency rescue","level":2,"score":0.2689000070095062},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2574999928474426},{"id":"https://openalex.org/C62555980","wikidata":"https://www.wikidata.org/wiki/Q1460420","display_name":"Emergency management","level":2,"score":0.257099986076355}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1016/j.procs.2025.10.206","doi":"https://doi.org/10.1016/j.procs.2025.10.206","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.procs.2025.10.206","pdf_url":null,"source":{"id":"https://openalex.org/S120348307","display_name":"Procedia Computer Science","issn_l":"1877-0509","issn":["1877-0509"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Procedia Computer Science","raw_type":"journal-article"},{"id":"pmh:oai:publications.polymtl.ca:71105","doi":null,"is_oa":false,"landing_page_url":"https://publications.polymtl.ca/71105/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Merei, A., Mcheick, H., Ghaddar, A., & Beltrame, G. (2025). ESLS: A Vision-Based Emergency Safe Landing System for UAVs. Procedia Computer Science, 272, 277-285.","raw_type":"http://purl.org/coar/resource_type/c_6501"}],"best_oa_location":{"id":"doi:10.1016/j.procs.2025.10.206","doi":"https://doi.org/10.1016/j.procs.2025.10.206","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.procs.2025.10.206","pdf_url":null,"source":{"id":"https://openalex.org/S120348307","display_name":"Procedia Computer Science","issn_l":"1877-0509","issn":["1877-0509"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Procedia Computer Science","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4000000059604645}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334601","display_name":"National Research Council Canada","ror":"https://ror.org/04mte1k06"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2181845023","https://openalex.org/W2623064439","https://openalex.org/W2810217655","https://openalex.org/W2898231767","https://openalex.org/W2980531619","https://openalex.org/W3005492131","https://openalex.org/W3039909333","https://openalex.org/W3114626444","https://openalex.org/W3144656351","https://openalex.org/W3195232330","https://openalex.org/W4220806874","https://openalex.org/W4297516128","https://openalex.org/W4312815769","https://openalex.org/W4382135822","https://openalex.org/W4385295619","https://openalex.org/W4408362165","https://openalex.org/W6893711219"],"related_works":["https://openalex.org/W7164209999","https://openalex.org/W4252051498","https://openalex.org/W7138863656","https://openalex.org/W4409640730","https://openalex.org/W2990470677","https://openalex.org/W7130317038","https://openalex.org/W4404410457","https://openalex.org/W4415035790","https://openalex.org/W4403541919","https://openalex.org/W4390945490"],"abstract_inverted_index":{"Uncrewed":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"are":[4],"increasingly":[5],"used":[6],"across":[7],"a":[8,32,97,142],"wide":[9],"range":[10],"of":[11,105,156,164],"missions,":[12],"including":[13],"healthcare-related":[14],"operations":[15],"such":[16,41],"as":[17,42],"medical":[18],"supply":[19],"delivery":[20],"and":[21,23,79,87,110,132,160,178],"search":[22],"rescue":[24],"(SAR).":[25],"However,":[26],"performing":[27],"safe":[28],"emergency":[29,59],"landings":[30],"remains":[31],"critical":[33],"challenge,":[34],"especially":[35],"in":[36,61,108,147,175],"GPS-denied":[37],"or":[38,44],"cluttered":[39],"environments":[40],"forests":[43],"disaster":[45],"zones.":[46],"This":[47,101],"paper":[48],"presents":[49],"an":[50,76],"Emergency":[51,119],"Safe":[52,120],"Landing":[53,121],"System":[54],"(ESLS)":[55],"designed":[56],"to":[57,82,158,166],"support":[58],"descent":[60],"any":[62],"mission":[63],"context.":[64],"ESLS":[65,113],"integrates":[66],"RTAB-MAP":[67],"SLAM":[68],"with":[69,96],"visual-inertial":[70],"odometry":[71],"(VIO),":[72],"combining":[73],"data":[74],"from":[75],"onboard":[77],"IMU":[78],"RGB-D":[80],"camera":[81],"enable":[83],"real-time":[84],"3D":[85],"mapping":[86],"localization.":[88],"The":[89],"system":[90],"uses":[91],"YOLO-v5":[92],"object":[93],"detection":[94,153],"fused":[95],"binary":[98],"occupancy":[99],"map.":[100],"allows":[102],"robust":[103],"identification":[104],"unobstructed":[106],"areas":[107],"dynamic":[109],"unstructured":[111],"environments.":[112],"supports":[114],"two":[115],"operational":[116],"modes:":[117],"(1)":[118],"Zone":[122],"Detection":[123],"(ESLZD),":[124],"which":[125,137],"selects":[126],"the":[127,169],"safest":[128],"available":[129],"landing":[130,139,151,161],"zone;":[131],"(2)":[133],"Search-and-Rescue":[134],"Mode":[135],"(ESLZD-SAR),":[136],"prioritizes":[138],"safely":[140],"near":[141],"detected":[143],"survivor.":[144],"Simulation":[145],"results":[146],"ArduPilot":[148],"Gazebo":[149],"show":[150],"zone":[152],"success":[154,162],"rates":[155,163],"up":[157,165],"98%":[159],"96%,":[167],"highlighting":[168],"system\u2019s":[170],"potential":[171],"for":[172],"reliable":[173],"deployment":[174],"both":[176],"standard":[177],"SAR-specific":[179],"UAV":[180],"operations.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1}],"updated_date":"2026-11-08T12:12:28.789561","created_date":"2025-11-25T00:00:00"}