Following is the claim for this invention:-

1. In this invention we ensure smooth descent of a drone by taking an initial image of landing area or the geofence of the landing region, to make sure the landing region is a substantially planar surface. The landing engine in the drone then computes a safe flight path or descent route for landing of the drone. At different points in the flight path or at different geographical coordinates during descent the drone again takes image of the landing region. Homography is continuously computed to make sure all images taken during descent by the drone trace to the same planar surface and if the above fails then we abort the landing of the drone. The above novel technique by which we ensure smooth landing of a drone is the claim for this invention.