  Landing safety is a challenge heavily engaging the research community
recently, due to the increasing interest in applications availed by aerial
vehicles. In this paper, we propose a landing safety pipeline based on state of
the art object detectors and OctoMap. First, a point cloud of surface obstacles
is generated, which is then inserted in an OctoMap. The unoccupied areas are
identified, thus resulting to a list of safe landing points. Due to the low
inference time achieved by state of the art object detectors and the efficient
point cloud manipulation using OctoMap, it is feasible for our approach to
deploy on low-weight embedded systems. The proposed pipeline has been evaluated
in many simulation scenarios, varying in people density, number, and movement.
Simulations were executed with an Nvidia Jetson Nano in the loop to confirm the
pipeline's performance and robustness in a low computing power hardware. The
experiments yielded promising results with a 95% success rate.
