Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
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Survey on Visual Navigation Technology for Unmanned Systems

무인 시스템의 자율 주행을 위한 영상기반 항법기술 동향

  • Kim, Hyoun-Jin (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Seo, Hoseong (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Pyojin (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Lee, Chung-Keun (Department of Mechanical and Aerospace Engineering, Seoul National University)
  • 김현진 (서울대학교 기계항공공학부) ;
  • 서호성 (서울대학교 기계항공공학부) ;
  • 김표진 (서울대학교 기계항공공학부) ;
  • 이충근 (서울대학교 기계항공공학부)
  • Received : 2015.04.14
  • Accepted : 2015.04.23
  • Published : 2015.04.30
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Abstract

This paper surveys vision based autonomous navigation technologies for unmanned systems. Main branches of visual navigation technologies are visual servoing, visual odometry, and visual simultaneous localization and mapping (SLAM). Visual servoing provides velocity input which guides mobile system to desired pose. This input velocity is calculated from feature difference between desired image and acquired image. Visual odometry is the technology that estimates the relative pose between frames of consecutive image. This can improve the accuracy when compared with the exisiting dead-reckoning methods. Visual SLAM aims for constructing map of unknown environment and determining mobile system's location simultaneously, which is essential for operation of unmanned systems in unknown environments. The trend of visual navigation is grasped by examining foreign research cases related to visual navigation technology.

이 논문에서는 영상정보를 기반으로 한 무인 시스템의 자율 항법기술에 대한 동향을 요약한다. 영상기반 항법기술로는 비주얼 서보잉, 비주얼 오도메트리, 영상 기반 SLAM(simultaneous localization and mapping)이 있다. 비주얼 서보잉은 목표 이미지와 현재 이미지 사이의 피쳐 차이로부터 원하는 속도 입력을 계산하여 무인 로봇을 목표 자세로 유도하는 데 사용된다. 비주얼 오도메트리는 무인 시스템이 영상정보를 바탕으로 자신의 이동 궤적을 추정하는 기술로, 기존의 dead-reckoning 방식보다 정확성을 향상시킬 수 있다. 영상 기반 SLAM은 무인 시스템이 영상 정보를 활용하여 미지의 환경에 대한 지도를 구축함과 동시에 자신의 위치를 결정해 나가는 기술로, 정확히 알지 못하는 환경에서 무인차량이나 무인기를 운용하는데 필수적이다. 이러한 기술들이 적용된 해외의 연구 사례들을 살펴봄으로써 영상기반 항법기술의 동향을 파악할 수 있었다.

Keywords

References

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