{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T04:48:31Z","timestamp":1780462111527,"version":"3.54.1"},"reference-count":59,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2023,7,19]],"date-time":"2023-07-19T00:00:00Z","timestamp":1689724800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Open Fund of the Key Laboratory of Flight Techniques and Flight Safety, CAAC","award":["FZ2021KF13"],"award-info":[{"award-number":["FZ2021KF13"]}]},{"name":"Open Fund of the Key Laboratory of Flight Techniques and Flight Safety, CAAC","award":["J2023-045"],"award-info":[{"award-number":["J2023-045"]}]},{"name":"Open Fund of the Key Laboratory of Flight Techniques and Flight Safety, CAAC","award":["X2023-40"],"award-info":[{"award-number":["X2023-40"]}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for Central Universities","doi-asserted-by":"publisher","award":["FZ2021KF13"],"award-info":[{"award-number":["FZ2021KF13"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for Central Universities","doi-asserted-by":"publisher","award":["J2023-045"],"award-info":[{"award-number":["J2023-045"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for Central Universities","doi-asserted-by":"publisher","award":["X2023-40"],"award-info":[{"award-number":["X2023-40"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Civil Aviation Flight University of China Science Innovation Fund for Graduate Students","award":["FZ2021KF13"],"award-info":[{"award-number":["FZ2021KF13"]}]},{"name":"Civil Aviation Flight University of China Science Innovation Fund for Graduate Students","award":["J2023-045"],"award-info":[{"award-number":["J2023-045"]}]},{"name":"Civil Aviation Flight University of China Science Innovation Fund for Graduate Students","award":["X2023-40"],"award-info":[{"award-number":["X2023-40"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>With the accelerated growth of the UAV industry, researchers are paying close attention to the flight safety of UAVs. When a UAV loses its GPS signal or encounters unusual conditions, it must perform an emergency landing. Therefore, real-time recognition of emergency landing zones on the ground is an important research topic. This paper employs a semantic segmentation approach for recognizing emergency landing zones. First, we created a dataset of UAV aerial images, denoted as UAV-City. A total of 600 UAV aerial images were densely annotated with 12 semantic categories. Given the complex backgrounds, diverse categories, and small UAV aerial image targets, we propose the STDC-CT real-time semantic segmentation network for UAV recognition of emergency landing zones. The STDC-CT network is composed of three branches: detail guidance, small object attention extractor, and multi-scale contextual information. The fusion of detailed and contextual information branches is guided by small object attention. We conducted extensive experiments on the UAV-City, Cityscapes, and UAVid datasets to demonstrate that the STDC-CT method is superior for attaining a balance between segmentation accuracy and inference speed. Our method improves the segmentation accuracy of small objects and achieves 76.5% mIoU on the Cityscapes test set at 122.6 FPS, 68.4% mIoU on the UAVid test set, and 67.3% mIoU on the UAV-City dataset at 196.8 FPS on an NVIDIA RTX 2080Ti GPU. Finally, we deployed the STDC-CT model on Jetson TX2 for testing in a real-world environment, attaining real-time semantic segmentation with an average inference speed of 58.32 ms per image.<\/jats:p>","DOI":"10.3390\/s23146514","type":"journal-article","created":{"date-parts":[[2023,7,19]],"date-time":"2023-07-19T21:22:58Z","timestamp":1689801778000},"page":"6514","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["A Real-Time Semantic Segmentation Method Based on STDC-CT for Recognizing UAV Emergency Landing Zones"],"prefix":"10.3390","volume":"23","author":[{"given":"Bo","family":"Jiang","sequence":"first","affiliation":[{"name":"College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan 618307, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-4412-418X","authenticated-orcid":false,"given":"Zhonghui","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan 618307, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jintao","family":"Tan","sequence":"additional","affiliation":[{"name":"College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan 618307, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ruokun","family":"Qu","sequence":"additional","affiliation":[{"name":"College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan 618307, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7523-7502","authenticated-orcid":false,"given":"Chenglong","family":"Li","sequence":"additional","affiliation":[{"name":"College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan 618307, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yandong","family":"Li","sequence":"additional","affiliation":[{"name":"College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan 618307, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,7,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Kim, S.Y., and Muminov, A. 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