한국군사과학기술학회지 (Journal of the Korea Institute of Military Science and Technology)

  • 제18권3호
  • /
  • Pages.226-233
  • /
  • 2015
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  • 1598-9127(pISSN)
  • /
  • 2636-0640(eISSN)
한국군사과학기술학회 (The Korea Institute of Military Science and Technology)
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수직이착륙 무인항공기 자동 착륙을 위한 영상기반 항법

Vision-based Navigation for VTOL Unmanned Aerial Vehicle Landing

  • 이상훈 ((주)한화 종합연구소 핵심기술 2팀) ;
  • 송진모 ((주)한화 종합연구소 핵심기술 2팀) ;
  • 배종수 ((주)한화 종합연구소 핵심기술 2팀)
  • Lee, Sang-Hoon (Sensor Systems Department, Defence R&D Center, Hanwha Corporation) ;
  • Song, Jin-Mo (Sensor Systems Department, Defence R&D Center, Hanwha Corporation) ;
  • Bae, Jong-Sue (Sensor Systems Department, Defence R&D Center, Hanwha Corporation)
  • 투고 : 2014.12.01
  • 심사 : 2015.05.22
  • 발행 : 2015.06.05
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초록

Pose estimation is an important operation for many vision tasks. This paper presents a method of estimating the camera pose, using a known landmark for the purpose of autonomous vertical takeoff and landing(VTOL) unmanned aerial vehicle(UAV) landing. The proposed method uses a distinctive methodology to solve the pose estimation problem. We propose to combine extrinsic parameters from known and unknown 3-D(three-dimensional) feature points, and inertial estimation of camera 6-DOF(Degree Of Freedom) into one linear inhomogeneous equation. This allows us to use singular value decomposition(SVD) to neatly solve the given optimization problem. We present experimental results that demonstrate the ability of the proposed method to estimate camera 6DOF with the ease of implementation.

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참고문헌

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