Aiying Lu Wenrui Ding Jiaxing Wang Hongguang Li Autonomous Vision-Based Safe Area Selection Algorithm for UAV Emergency Forced Landing. 254-261 2012 ICICA (2) https://doi.org/10.1007/978-3-642-34041-3_37 conf/icica/2012-2 db/conf/icica/icica2012-2.html#LuDWL12