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arXiv · 2506.14525

VisLanding: Monocular 3D Perception for UAV Safe Landing via Depth-Normal Synergy

Zhuoyue Tan·Boyong He·Yuxiang Ji·Liaoni Wu
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Abstract

This paper presents VisLanding, a monocular 3D perception-based framework for safe UAV (Unmanned Aerial Vehicle) landing. Addressing the core challenge of autonomous UAV landing in complex and unknown environments, this study innovatively leverages the depth-normal synergy prediction capabilities of the Metric3D V2 model to construct an end-to-end safe landing zones (SLZ) estimation framework. By introducing a safe zone segmentation branch, we transform the landing zone estimation task into a binary semantic segmentation problem. The model is fine-tuned and annotated using the WildUAV dataset from a UAV perspective, while a cross-domain evaluation dataset is constructed to validate the model's robustness. Experimental results demonstrate that VisLanding significantly enhances the accuracy of safe zone identification through a depth-normal joint optimization mechanism, while retaining the zero-shot generalization advantages of Metric3D V2. The proposed method exhibits superior generalization and robustness in cross-domain testing compared to other approaches. Furthermore, it enables the estimation of landing zone area by integrating predicted depth and normal information, providing critical decision-making support for practical applications.

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Zhuoyue Tan, Boyong He, Yuxiang Ji, Liaoni Wu. 2025-06-17. VisLanding: Monocular 3D Perception for UAV Safe Landing via Depth-Normal Synergy. https://arxiv.org/abs/2506.14525

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