Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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Position Recognition and Indoor Autonomous Flight of a Small Quadcopter Using Distributed Image Matching

분산영상 매칭을 이용한 소형 쿼드콥터의 실내 비행 위치인식과 자율비행

  • 진태석 (동서대학교 메카트로닉스공학과)
  • Received : 2020.02.27
  • Accepted : 2020.04.09
  • Published : 2020.04.30
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Abstract

We consider the problem of autonomously flying a quadcopter in indoor environments. Navigation in indoor settings poses two major issues. First, real time recognition of the marker captured by the camera. Second, The combination of the distributed images is used to determine the position and orientation of the quadcopter in an indoor environment. We autonomously fly a miniature RC quadcopter in small known environments using an on-board camera as the only sensor. We use an algorithm that combines data-driven image classification with image-combine techniques on the images captured by the camera to achieve real 3D localization and navigation.

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References

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