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http://dx.doi.org/10.12673/jkoni.2012.16.6.910

Fixed-Wing UAV's Image-Based Target Detection and Tracking using Embedded Processor  

Kim, Jeong-Ho (Dept. of Aerospace Eng., Pusan National University)
Jeong, Jae-Won (Dept. of Aerospace Eng., Pusan National University)
Han, Dong-In (Dept. of Aerospace Eng., Pusan National University)
Heo, Jin-Woo (Dept. of Aerospace Eng., Pusan National University)
Cho, Kyeom-Rae (Dept. of Aerospace Eng., Pusan National University)
Lee, Dae-Woo (Dept. of Aerospace Eng., Pusan National University)
Publication Information
Journal of Advanced Navigation Technology / v.16, no.6, 2012 , pp. 910-919 More about this Journal
Abstract
In this paper, we described development of on-board image processing system and its process and verified its performance through flight experiment. The image processing board has single ARM(Advanced Risk Machine) processor. We performed Embedded Linux Porting. Algorithm to be applied for object tracking is color-based image processing algorithm, it can be designed to track the object that has specific color on ground in real-time. To verify performance of the on-board image processing system, we performed flight test using the PNUAV, UAV developed by LAB. Also, we performed optimization of the image processing algorithm and kernel to improve real-time performance. Finally we confirmed that proposed system can track the blue-color object within four pixels error range consistently in the experiment.
Keywords
Embedded Processor; On-board Image Processing; UAV; Color-based Object Tracking;
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