{"id":"https://openalex.org/W4416750804","doi":"https://doi.org/10.1109/iros60139.2025.11247278","title":"VisLanding: Monocular 3D Perception for UAV Safe Landing via Depth-Normal Synergy","display_name":"VisLanding: Monocular 3D Perception for UAV Safe Landing via Depth-Normal Synergy","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750804","doi":"https://doi.org/10.1109/iros60139.2025.11247278"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113133173","display_name":"Zhuoyue Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]},{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Zhuoyue Tan","raw_affiliation_strings":["Xiamen University,Institute of Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xiamen University,Institute of Artificial Intelligence","institution_ids":["https://openalex.org/I191208505","https://openalex.org/I4210105595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033686089","display_name":"Boyong He","orcid":"https://orcid.org/0000-0002-9047-866X"},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]},{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Boyong He","raw_affiliation_strings":["Xiamen University,Institute of Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xiamen University,Institute of Artificial Intelligence","institution_ids":["https://openalex.org/I191208505","https://openalex.org/I4210105595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075606969","display_name":"Yuxiang Ji","orcid":"https://orcid.org/0009-0005-8802-7535"},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]},{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Yuxiang Ji","raw_affiliation_strings":["Xiamen University,Institute of Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xiamen University,Institute of Artificial Intelligence","institution_ids":["https://openalex.org/I191208505","https://openalex.org/I4210105595"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048639585","display_name":"Liaoni Wu","orcid":"https://orcid.org/0000-0002-4558-0462"},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]},{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Liaoni Wu","raw_affiliation_strings":["Xiamen University,Institute of Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xiamen University,Institute of Artificial Intelligence","institution_ids":["https://openalex.org/I191208505","https://openalex.org/I4210105595"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42459633,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3525","last_page":"3532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5436999797821045,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5436999797821045,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.09709999710321426,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.051500000059604645,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6704000234603882},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6478999853134155},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5705999732017517},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5023000240325928},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.35420000553131104},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.3472999930381775},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.3359000086784363}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6754000186920166},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6704000234603882},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6478999853134155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6324999928474426},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5705999732017517},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5598999857902527},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5023000240325928},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.35420000553131104},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.3472999930381775},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.3359000086784363},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.298799991607666},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2985999882221222},{"id":"https://openalex.org/C66905080","wikidata":"https://www.wikidata.org/wiki/Q17005494","display_name":"Binary classification","level":3,"score":0.2856999933719635},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2705000042915344},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.26030001044273376}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1994383353","https://openalex.org/W2765781654","https://openalex.org/W2913841900","https://openalex.org/W2918636049","https://openalex.org/W2963037989","https://openalex.org/W2964209782","https://openalex.org/W2978859332","https://openalex.org/W4214520160","https://openalex.org/W4244382951","https://openalex.org/W4293868314","https://openalex.org/W4307117543","https://openalex.org/W4308115413","https://openalex.org/W4385480829","https://openalex.org/W4386232924","https://openalex.org/W4390874218","https://openalex.org/W4395481595","https://openalex.org/W4402727115","https://openalex.org/W4402753888","https://openalex.org/W4403947105","https://openalex.org/W4407877226","https://openalex.org/W4415798746"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"VisLanding,":[3],"a":[4,55,68,84,88,113],"monocular":[5],"3D":[6],"perception-based":[7],"framework":[8],"for":[9,162],"safe":[10,47,56,109],"UAV":[11,22,85],"(Unmanned":[12],"Aerial":[13],"Vehicle)":[14],"landing.":[15],"Addressing":[16],"the":[17,33,39,62,80,96,106,120,145],"core":[18],"challenge":[19],"of":[20,38,108,124,147],"autonomous":[21],"landing":[23,48,63,148],"in":[24,135],"complex":[25],"and":[26,77,133,155,167],"unknown":[27],"environments,":[28],"this":[29],"study":[30],"innovatively":[31],"leverages":[32],"depth-normal":[34,114],"synergy":[35],"prediction":[36],"capabilities":[37],"Metric3D":[40,125],"V2":[41],"model":[42,74],"to":[43,94,139],"construct":[44],"an":[45],"end-to-end":[46],"zones":[49],"(SLZ)":[50],"estimation":[51,65,146],"framework.":[52],"By":[53],"introducing":[54],"zone":[57,64,110,149],"segmentation":[58,71],"branch,":[59],"we":[60],"transform":[61],"task":[66],"into":[67],"binary":[69],"semantic":[70],"problem.":[72],"The":[73,127,165],"is":[75,92],"fine-tuned":[76],"annotated":[78],"using":[79],"WildUAV":[81],"dataset":[82,91],"from":[83],"perspective,":[86],"while":[87,118],"cross-domain":[89,136],"evaluation":[90],"constructed":[93],"validate":[95],"model\u2019s":[97],"robustness.":[98],"Experimental":[99],"results":[100],"demonstrate":[101],"that":[102],"VisLanding":[103],"significantly":[104],"enhances":[105],"accuracy":[107],"identification":[111],"through":[112],"joint":[115],"optimization":[116],"mechanism,":[117],"retaining":[119],"zero-shot":[121],"generalization":[122,132],"advantages":[123],"V2.":[126],"proposed":[128],"method":[129],"exhibits":[130],"superior":[131],"robustness":[134],"testing":[137],"compared":[138],"other":[140],"approaches.":[141],"Furthermore,":[142],"it":[143],"enables":[144],"area":[150],"by":[151],"integrating":[152],"predicted":[153],"depth":[154],"normal":[156],"information,":[157],"providing":[158],"critical":[159],"decision-making":[160],"support":[161],"practical":[163],"applications.":[164],"code":[166],"datasets":[168],"are":[169],"available":[170],"at":[171],"https://github.com/Victoire7/Vislanding.git.":[172]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}