# Risk Assessment for Autonomous Landing in Urban Environments using Semantic Segmentation Source: [Risk Assessment for Autonomous Landing in Urban Environments using Semantic Segmentation]() Collection index: [llms.txt]() Data updated: 2025-10-26T04:20:40.032Z Authors: Jes\\'us Alejandro Loera-Ponce, Diego A. Mercado-Ravell, Israel Becerra-Dur\\'an, Luis Manuel Valentin-Coronado Published: 2024-10-16T19:34:03.000Z ## Abstract In this paper, we address the vision-based autonomous landing problem in complex urban environments using deep neural networks for semantic segmentation and risk assessment. We propose employing the SegFormer, a state-of-the-art visual transformer network, for the semantic segmentation of complex, unstructured urban environments. This approach yields valuable information that can be utilized in smart autonomous landing missions, particularly in emergency landing scenarios resulting from system failures or human errors. The assessment is done in real-time flight, when images of an RGB camera at the Unmanned Aerial Vehicle (UAV) are segmented with the SegFormer into the most common classes found in urban environments. These classes are then mapped into a level of risk, considering in general, potential material damage, damaging the drone itself and endanger people. The proposed strategy is validated through several case studies, demonstrating the huge potential of semantic segmentation-based strategies to determining the safest landing areas for autonomous emergency landing, which we believe will help unleash the full potential of UAVs on civil applications within urban areas. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. ## Original sources and implementation [Original paper]() [PDF]()