Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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Tracking of ground objects using image information for autonomous rotary unmanned aerial vehicles

자동 비행 소형 무인 회전익항공기의 영상정보를 이용한 지상 이동물체 추적 연구

  • 강태화 (KAIST 항공우주공학과 대학원) ;
  • 백광열 (KAIST 항공우주공학과 대학원) ;
  • 목성훈 (KAIST 항공우주공학과 대학원) ;
  • 이원석 (KAIST 항공우주공학과 대학원) ;
  • 이동진 (KAIST 항공우주공학과 대학원) ;
  • 임승한 (KAIST 항공우주공학과 대학원) ;
  • 방효충 (KAIST 항공우주공학과)
  • Received : 2009.11.10
  • Accepted : 2010.03.31
  • Published : 2010.05.01
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Abstract

This paper presents an autonomous target tracking approach and technique for transmitting ground control station image periodically for an unmanned aerial vehicle using onboard gimbaled(pan-tilt) camera system. The miniature rotary UAV which was used in this study has a small, high-performance camera, improved target acquisition technique, and autonomous target tracking algorithm. Also in order to stabilize real-time image sequences, image stabilization algorithm was adopted. Finally the target tracking performance was verified through a real flight test.

본 논문에서는 소형 무인항공기에 영상 획득용 카메라를 장착하여 지상의 이동물체를 자동으로 추적하고 지상으로 영상정보를 지속적으로 전송하는 기술 및 관련 이론에 대한 연구를 다루고 있다. 본 연구에 사용된 회전익 무인항공기에는 소형 고성능의 영상획득 장치와 지상표적에 대한 식별 지향 자동추적 알고리즘이 탑재되었고 더욱 안정된 영상추적을 위해 영상 안정화 기법을 추가적으로 적용하였다. 최종적으로 모든 연구내용에 대해 비행시험을 수행하여 그 성능을 검증하였다.

Keywords

References

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