This paper presents a method for measuring aircraft landing gear angles based on a monocular camera and the CAD aircraft model. Condition monitoring of the aircraft landing gear is a prerequisite for the safe landing of the aircraft. Traditional manual observation has an intense subjectivity. In recent years, target detection models dependent on deep learning and pose estimation methods relying on a single RGB image have made significant progress. Based on these advanced algorithms, this paper proposes a method for measuring the actual angles of landing gears in two-dimensional images. A single RGB image of an aircraft is inputted to the target detection module to obtain the key points of landing gears. The vector field network votes the key points of the fuselage after extraction and scale normalization of the pixels inside the aircraft prediction box. Knowing the pixel position of the key points and the constraints on the aircraft, the angle between the landing gear and fuselage plane can be calculated even without depth information. The vector field loss function is improved based on the distance between pixels and key points, and synthetic datasets of aircraft with different angle landing gears are created to verify the validity of the proposed algorithm. The experimental results show that the mean error of the proposed algorithm for the landing gears is less than 5 degrees on the light-varying dataset.

Existing self-supervised methods have achieved significant success in ground-level autonomous driving scenarios, but applying them directly to Unmanned Aerial Vehicle (UAV) videos remains challenging. On the one hand, rapid pose changes in UAVs often lead to oblique-view imaging, making it difficult for conventional methods to handle the perspective distortion in oblique imagery. On the other hand, complex UAV viewpoints may cause depth blurring in low-texture regions. To address these challenges, we propose a lightweight self-supervised monocular depth estimation method for UAV scenarios. By utilizing a Dynamic Direction-Aware Module (DDaM), the network adaptively adjusts the sampling grid to correct distorted features during feature extraction, while enhancing its ability to capture features at different spatial locations. Furthermore, to mitigate the loss of spatial information caused by multiple downsampling operations, we integrate a Coordinate Attention Mechanism into the encoder. This mechanism captures features along two separate spatial axes, preserving the spatial coordinates of object boundaries. Our experiments demonstrate that the synergy between DDaM and the Coordinate Attention Mechanism enables the prediction of more accurate object boundaries and richer local details. To validate the effectiveness and practical applicability of the proposed method, we conduct experiments on both the MidAir synthetic dataset and the UAVid real-world dataset. The results show that, compared with current baseline methods, our approach maintains competitive performance while requiring the fewest parameters.