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Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency situations. In this work, we propose a perception system addressing this challenge by detecting landing sites based on their texture and geometric shape without using any prior knowledge about the environment. The proposed method considers hazards within thearXiv:1802.09043v1 fatcat:4wzih3txjrgazdnweuqzgv5ybu