Selection of a non-localized landing region for an unmanned helicopter based on an attention model

A new landing region selection algorithm for an unmanned helicopter is proposed based on an attention model. Different from the original attention model, some properties of the possible safe landing regions (e.g., depth, regional color and motion features) are included in the selection algorithm. Furthermore, regional color and motion features are fused directly into the saliency map because these features do not have the "central-peripheral" property.Experimental results validate the feasibility and efficiency of this approach.