{"id":"https://openalex.org/W3135736405","doi":"https://doi.org/10.1109/lra.2021.3101861","title":"On the Visual-Based Safe Landing of UAVs in Populated Areas: A Crucial Aspect for Urban Deployment","display_name":"On the Visual-Based Safe Landing of UAVs in Populated Areas: A Crucial Aspect for Urban Deployment","publication_year":2021,"publication_date":"2021-08-04","ids":{"openalex":"https://openalex.org/W3135736405","doi":"https://doi.org/10.1109/lra.2021.3101861","mag":"3135736405"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3101861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3101861","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2102.13253","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067582822","display_name":"Javier Antonio Gonzalez-Trejo","orcid":null},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Javier Gonzalez-Trejo","raw_affiliation_strings":["Center for Research in Mathematics CIMAT AC, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Research in Mathematics CIMAT AC, Mexico","institution_ids":["https://openalex.org/I124618812"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000634506","display_name":"Diego Mercado-Ravell","orcid":"https://orcid.org/0000-0002-7416-3190"},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Diego Mercado-Ravell","raw_affiliation_strings":["Center for Research in Mathematics CIMAT AC, Mexico","Centro de Investigacion en Matem\u00e1ticas"],"raw_orcid":"https://orcid.org/0000-0002-7416-3190","affiliations":[{"raw_affiliation_string":"Center for Research in Mathematics CIMAT AC, Mexico","institution_ids":["https://openalex.org/I124618812"]},{"raw_affiliation_string":"Centro de Investigacion en Matem\u00e1ticas","institution_ids":["https://openalex.org/I124618812"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039879856","display_name":"Israel Becerra","orcid":"https://orcid.org/0000-0002-9788-1128"},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Israel Becerra","raw_affiliation_strings":["Center for Research in Mathematics CIMAT AC, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-9788-1128","affiliations":[{"raw_affiliation_string":"Center for Research in Mathematics CIMAT AC, Mexico","institution_ids":["https://openalex.org/I124618812"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001442360","display_name":"Rafael Murrieta-Cid","orcid":"https://orcid.org/0000-0002-8334-5287"},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Rafael Murrieta-Cid","raw_affiliation_strings":["Center for Research in Mathematics CIMAT AC, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-8334-5287","affiliations":[{"raw_affiliation_string":"Center for Research in Mathematics CIMAT AC, Mexico","institution_ids":["https://openalex.org/I124618812"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5067582822"],"corresponding_institution_ids":["https://openalex.org/I124618812"],"apc_list":null,"apc_paid":null,"fwci":0.3219,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61535196,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"6","issue":"4","first_page":"7901","last_page":"7908"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.7776501178741455},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6611789464950562},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4888541102409363},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.47686895728111267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47615739703178406},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.47306716442108154},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.46807989478111267},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4420182704925537},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39283761382102966},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3251239061355591},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16115954518318176}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7776501178741455},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6611789464950562},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4888541102409363},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.47686895728111267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47615739703178406},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.47306716442108154},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.46807989478111267},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4420182704925537},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39283761382102966},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3251239061355591},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16115954518318176},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2021.3101861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3101861","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2102.13253","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.13253","pdf_url":"https://arxiv.org/pdf/2102.13253","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3135736405","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2102.13253","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2102.13253","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2102.13253","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2102.13253","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.13253","pdf_url":"https://arxiv.org/pdf/2102.13253","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8299999833106995}],"awards":[],"funders":[{"id":"https://openalex.org/F4320307102","display_name":"Intel Corporation","ror":"https://ror.org/01ek73717"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W603908379","https://openalex.org/W1518641734","https://openalex.org/W1994383353","https://openalex.org/W2019400639","https://openalex.org/W2098303625","https://openalex.org/W2143764656","https://openalex.org/W2150093133","https://openalex.org/W2222512263","https://openalex.org/W2463631526","https://openalex.org/W2586992378","https://openalex.org/W2597364644","https://openalex.org/W2918636049","https://openalex.org/W2962832028","https://openalex.org/W2967069910","https://openalex.org/W2978859332","https://openalex.org/W2990268359","https://openalex.org/W3014501591","https://openalex.org/W3018757597","https://openalex.org/W3034971973","https://openalex.org/W3035193053","https://openalex.org/W3087861058","https://openalex.org/W3097994591","https://openalex.org/W3155785314","https://openalex.org/W6618372016","https://openalex.org/W6772261133","https://openalex.org/W6777046832","https://openalex.org/W6779110413","https://openalex.org/W6783507135"],"related_works":["https://openalex.org/W3192545136","https://openalex.org/W3192816810","https://openalex.org/W3210283651","https://openalex.org/W2891808282","https://openalex.org/W2948885776","https://openalex.org/W81358169","https://openalex.org/W2913841900","https://openalex.org/W3186200390","https://openalex.org/W3205193849","https://openalex.org/W1994961041","https://openalex.org/W3124451778","https://openalex.org/W3035226794","https://openalex.org/W3014501591","https://openalex.org/W3117526035","https://openalex.org/W2889855071","https://openalex.org/W2591753034","https://openalex.org/W2946537685","https://openalex.org/W3093034442","https://openalex.org/W3156503681","https://openalex.org/W3080922941"],"abstract_inverted_index":{"Autonomous":[0],"landing":[1,23],"of":[2,15,135,165,196],"Unmanned":[3],"Aerial":[4],"Vehicles":[5],"(UAVs)":[6],"in":[7,17,21,47,62,179,186,193],"crowded":[8,48],"scenarios":[9,49,158,175],"is":[10,29,50,75,92,107,144],"crucial":[11],"for":[12,41,77,100,154],"successful":[13],"deployment":[14],"UAVs":[16],"populated":[18],"areas,":[19],"particularly":[20],"emergency":[22,204],"situations":[24],"where":[25,59,87],"the":[26,60,63,97,104,110,114,128,136,151,163,166,194,198],"highest":[27],"priority":[28],"to":[30,95,109,132,161],"avoid":[31],"hurting":[32,201],"people.":[33],"In":[34],"this":[35],"work,":[36],"a":[37,53,57,72,82,88,123,139,184],"new":[38],"visual-based":[39],"algorithm":[40,143,153],"identifying":[42],"Safe":[43],"Landing":[44],"Zones":[45],"(SLZ)":[46],"proposed,":[51],"considering":[52],"camera":[54],"mounted":[55],"on":[56],"UAV,":[58],"people":[61,177,202],"scene":[64],"move":[65],"with":[66,122,150,176],"unknown":[67],"dynamics.":[68],"To":[69],"do":[70],"so,":[71],"density":[73],"map":[74,91,106],"generated":[76],"each":[78],"image":[79],"frame":[80],"using":[81,146],"Deep":[83],"Neural":[84],"Network,":[85],"from":[86,183,200],"binary":[89],"occupancy":[90,105],"obtained":[93,118],"aiming":[94],"overestimate":[96],"people's":[98],"location":[99],"security":[101,125],"reasons.":[102],"Then,":[103],"projected":[108],"head's":[111,129],"plane,":[112],"and":[113,172],"SLZ":[115,137],"candidates":[116],"are":[117],"as":[119],"circular":[120],"regions":[121],"minimum":[124],"radius,":[126],"within":[127],"plane.":[130],"Finally,":[131],"keep":[133],"track":[134],"candidates,":[138],"multiple":[140],"instance":[141],"tracking":[142],"implemented":[145],"Kalman":[147],"Filters":[148],"along":[149],"Hungarian":[152],"data":[155],"association.":[156],"Several":[157],"were":[159],"studied":[160],"prove":[162],"validity":[164],"proposed":[167],"strategy,":[168],"including":[169],"public":[170,180],"datasets":[171],"real":[173],"uncontrolled":[174],"moving":[178],"squares,":[181],"taken":[182],"UAV":[185,199],"flight.":[187],"The":[188],"study":[189],"showed":[190],"promising":[191],"results":[192],"search":[195],"preventing":[197],"during":[203],"landing.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
