{"id":"https://openalex.org/W3169262488","doi":"https://doi.org/10.1145/3447587.3447590","title":"Vision-based UAV Safe Landing exploiting Lightweight Deep Neural Networks","display_name":"Vision-based UAV Safe Landing exploiting Lightweight Deep Neural Networks","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3169262488","doi":"https://doi.org/10.1145/3447587.3447590","mag":"3169262488"},"language":"en","primary_location":{"id":"doi:10.1145/3447587.3447590","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3447587.3447590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 The 4th International Conference on Image and Graphics Processing","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/A5075250374","display_name":"Charalampos Symeonidis","orcid":"https://orcid.org/0000-0001-5927-6130"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Charalampos Symeonidis","raw_affiliation_strings":["Department of Informatics Aristotle University of Thessaloniki, Greece"],"affiliations":[{"raw_affiliation_string":"Department of Informatics Aristotle University of Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008833556","display_name":"Efstratios Kakaletsis","orcid":"https://orcid.org/0000-0001-6921-5753"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Efstratios Kakaletsis","raw_affiliation_strings":["Department of Informatics Aristotle University of Thessaloniki, Greece"],"affiliations":[{"raw_affiliation_string":"Department of Informatics Aristotle University of Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070716976","display_name":"Ioannis Mademlis","orcid":"https://orcid.org/0000-0001-5479-0632"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Ioannis Mademlis","raw_affiliation_strings":["Department of Informatics Aristotle University of Thessaloniki, Greece"],"affiliations":[{"raw_affiliation_string":"Department of Informatics Aristotle University of Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034879808","display_name":"Nikos Nikolaidis","orcid":"https://orcid.org/0000-0003-1515-7986"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Nikos Nikolaidis","raw_affiliation_strings":["Department of Informatics Aristotle University of Thessaloniki, Greece"],"affiliations":[{"raw_affiliation_string":"Department of Informatics Aristotle University of Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041054091","display_name":"Anastasios Tefas","orcid":"https://orcid.org/0000-0003-1288-3667"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Anastasios Tefas","raw_affiliation_strings":["Department of Informatics Aristotle University of Thessaloniki, Greece"],"affiliations":[{"raw_affiliation_string":"Department of Informatics Aristotle University of Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061130224","display_name":"Ioannis Pitas","orcid":"https://orcid.org/0009-0006-7555-8641"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Ioannis Pitas","raw_affiliation_strings":["Department of Informatics Aristotle University of Thessaloniki, Greece"],"affiliations":[{"raw_affiliation_string":"Department of Informatics Aristotle University of Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5075250374"],"corresponding_institution_ids":["https://openalex.org/I21370196"],"apc_list":null,"apc_paid":null,"fwci":2.5938,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.91426471,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"13","last_page":"19"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/computer-science","display_name":"Computer science","score":0.7486070394515991},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6450552940368652},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6099364757537842},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.6021518111228943},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5885441303253174},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5349358916282654},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.44126972556114197},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.42931067943573},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4084859788417816},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33049654960632324}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7486070394515991},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6450552940368652},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6099364757537842},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.6021518111228943},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5885441303253174},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5349358916282654},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44126972556114197},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.42931067943573},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4084859788417816},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33049654960632324},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3447587.3447590","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3447587.3447590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 The 4th International Conference on Image and Graphics Processing","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8681119494","display_name":null,"funder_award_id":"731667,871479","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1491714540","https://openalex.org/W1903029394","https://openalex.org/W1969472392","https://openalex.org/W1976818984","https://openalex.org/W2102605133","https://openalex.org/W2133844819","https://openalex.org/W2545036327","https://openalex.org/W2560023338","https://openalex.org/W2565639579","https://openalex.org/W2608727730","https://openalex.org/W2613718673","https://openalex.org/W2613927007","https://openalex.org/W2737258237","https://openalex.org/W2803185511","https://openalex.org/W2884561390","https://openalex.org/W2886934227","https://openalex.org/W2889866244","https://openalex.org/W2895836612","https://openalex.org/W2896726780","https://openalex.org/W2904981122","https://openalex.org/W2906254211","https://openalex.org/W2962850098","https://openalex.org/W2963163009","https://openalex.org/W2964284340","https://openalex.org/W2979322734","https://openalex.org/W3088927100","https://openalex.org/W3097759188"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W4388446985","https://openalex.org/W2949096641","https://openalex.org/W2970686063","https://openalex.org/W4320729701","https://openalex.org/W4254103348","https://openalex.org/W3210378990","https://openalex.org/W3034745255"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,24,39,47],"artificial":[3],"intelligence,":[4],"control":[5],"and":[6],"sensing":[7],"technologies":[8,29],"have":[9,30],"facilitated":[10],"the":[11,91,108,126,143],"development":[12],"of":[13,49,128,142],"autonomous":[14,64],"Unmanned":[15],"Aerial":[16],"Vehicles":[17],"(UAVs,":[18],"or":[19,42,135],"drones)":[20],"able":[21,86],"to":[22,53,87],"self-navigate":[23],"various":[25],"settings.":[26],"Although":[27],"these":[28],"already":[31],"entered":[32],"a":[33,73,96,117,147],"mature":[34],"stage,":[35],"ensuring":[36],"flight":[37],"safety":[38],"crowded":[40],"areas":[41],"performing":[43],"an":[44,60],"emergency":[45],"landing":[46,76],"case":[48],"malfunctions,":[50],"while":[51],"adhering":[52],"relevant":[54,129],"legislation,":[55],"is":[56],"generally":[57],"treated":[58],"as":[59,107,132],"afterthought":[61],"when":[62],"designing":[63],"UAV":[65,74],"platforms":[66],"for":[67],"unstructured":[68],"environments.":[69],"This":[70],"paper":[71],"proposes":[72],"safe":[75],"navigation":[77],"pipeline":[78,145],"that":[79],"relies":[80],"on":[81,90,120,146],"lightweight":[82],"computer":[83],"vision":[84],"modules,":[85],"be":[88],"executed":[89],"limited":[92],"computational":[93],"resources":[94],"on-board":[95],"typical":[97],"UAV.":[98],"Pre-trained":[99],"Deep":[100],"Neural":[101],"Networks":[102],"(DNNs)":[103],"are":[104],"mainly":[105],"employed":[106],"underlying":[109],"building":[110],"blocks,":[111],"since":[112],"deep":[113],"learning":[114],"has":[115],"made":[116],"major":[118],"impact":[119],"robotic":[121],"perception":[122],"by":[123],"drastically":[124],"improving":[125],"performance":[127],"tasks,":[130],"such":[131],"object":[133],"detection":[134],"tracking,":[136],"semantic":[137],"image":[138],"segmentation,":[139],"etc.":[140],"Evaluation":[141],"proposed":[144],"simulated":[148],"environment":[149],"indicates":[150],"highly":[151],"favorable":[152],"results.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}