• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.8
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• pp.936-942
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• 2019

Autonomous driving of drone indoor must move along a narrow path and overcome other factors such as lighting, topographic characteristics, obstacles. In addition, it is difficult to operate the drone in the hallway because of insufficient texture and the lack of its diversity comparing with the complicated environment. In this paper, we study an autonomous drone navigation using Convolution Neural Network(CNN) in indoor environment. The proposed method receives an image from the front camera of the drone and then steers the drone by predicting the next path based on the image. As a result of a total of 38 autonomous drone navigation tests, it was confirmed that a drone was successfully navigating in the indoor environment by the proposed method without hitting the walls or doors in the hallway.

• Journal of The Korean Society of Agricultural Engineers
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• v.60 no.6
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• pp.21-31
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• 2018

The result of examination of diagnostic method, which is composed of a combination of a thermal camera and a drone that visually shows the temperature of the object by detecting the infrared rays, for detecting the leakage of earth dam was driven in this research. The drone infrared thermography method was suggested to precise safety diagnosis through direct comparing the two method results of electrical resistivity survey and thermal image survey. The important advantage of the thermal leakage detection method was the simplicity of the application, the quickness of the results, and the effectiveness of the work in combination with the existing diagnosis method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.355-356
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• 2021

Geological and biological surveys are conducted every year to investigate the state of tidal flat loss and ecological changes in the Saemangeum embankment. In addition, various activities for forest monitoring and large-scale environmental monitoring are being actively carried out throughout Korea. Due to the recent development of drone technology and artificial intelligence technology, various studies are being conducted to perform these activities more efficiently and economically. In this study, we propose an image segmentation technique using semantic segmentation to efficiently investigate and analyze large-scale ecological environments using Drone.

• Journal of Korea Water Resources Association
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• v.53 no.6
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• pp.463-467
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• 2020

The main feature of this study is to automatically synthesize square images by sending aerial photographs and images from unmanned aerial vehicles (drons). It may be applicable to the cloud server, and to apply analytical algorithms for the suitable purpose of image processing. Drone imaging analysis is a process that can be used in various fields such as finding contaminated area of green algae, monitoring forest fire, and managing crop cultivation.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.5
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• pp.775-784
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• 2023

Drone images are being used more and more actively in the fields of surveying and spatial information, and are rapidly replacing existing aerial and satellite images. The technology of quickly acquiring real-time data at low cost and processing it is now being applied to actual industries beyond research. However, there are also problems encountered as this progresses. When high-resolution spatial information is acquired using a general 2D flight plan for a terrain with sever undulations, problems arise due to the difference in resolution of the data. In particular, when a low-altitude high-resolution image is taken using a drone in a mountainous or steep terrain, there may be a problem in image matching due to a resolution difference caused by terrain undulations. This problem occurs because a drone acquires data while flying on a 2D plane at a fixed altitude, just like conventional aerial photography. In order to acquire high-quality 3D data using a drone, the scale difference for the shooting distance should be considered. In addition, in order to obtain facade images of large structures, it is necessary to take images in 3D space. In this study, in order to improve the disadvantages of the 2D flight method, a 3D flight plan was established for the study area, and it was confirmed that high-quality 3D spatial information could be obtained in this way.

• Korean Journal of Remote Sensing
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• v.39 no.5_3
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• pp.967-978
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• 2023

This study proposed and validated a combined segmentation network (CSN) designed to effectively train on multiple drone image datasets and enhance the accuracy of semantic segmentation. CSN shares the entire encoding domain to accommodate the diversity of three drone datasets, while the decoding domains are trained independently. During training, the segmentation accuracy of CSN was lower compared to U-Net and the pyramid scene parsing network (PSPNet) on single datasets because it considers loss values for all dataset simultaneously. However, when applied to domestic autonomous drone images, CSN demonstrated the ability to classify pixels into appropriate classes without requiring additional training, outperforming PSPNet. This research suggests that CSN can serve as a valuable tool for effectively training on diverse drone image datasets and improving object recognition accuracy in new regions.

• Journal of Broadcast Engineering
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• v.24 no.2
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• pp.243-250
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• 2019

In this paper, we propose a system for processing and analyzing drone image information which can be applied variously in disasters-security situation. The proposed system stores the images acquired from the drones in the server, and performs image processing and analysis according to various scenarios. According to each mission, deep-learning method is used to construct an image analysis system in the images acquired by the drone. Experiments confirm that it can be applied to traffic volume measurement, suspect and vehicle tracking, survivor identification and maritime missions.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.6
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• pp.773-781
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• 2018

In recent years, a study of power-line inspection using an unmanned aerial vehicle (UAV) has been actively conducted. However, relevant studies have been conducting power-line inspection with an UAV operated by manual control, and they have developed just power-line detection algorithm on aerial images. To overcome limitations of existing research, we propose a drone-based power-line tracking system in this paper. The main contributions of this paper are to operate developed system under configured environment and to develop a power-line detection algorithm in real-time. Developed system is composed of the power-line detection and the image-based tracking control. To detect a power-line in real-time, a region of interest (ROI) image is extracted. Furthermore, clustering algorithm is used in order to discriminate the power-line from background. Finally, the power-line is detected by using the Hough transform, and a center position and a tilt angle are estimated by using the Kalman filter to control a drone smoothly. We design a position controller and an attitude controller for image-based tracking control, and both controllers are designed based on the proportional-derivative (PD) control method. The interaction between the position controller and the attitude controller makes the drone track the power-line. Several experiments were carried out in environments where conditions are similar to actual environments, which demonstrates the superiority of the developed system.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.1
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• pp.33-40
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• 2022

With the recent increase in the development of military drones, they are adopted and used as the combat system of battalion level or higher. However, it is difficult to use drones that can be used in battles below the platoon level due to the current conditions for the formation of units in the Korean military. In this paper, therefore, we developed a program drones equipped with a thermal imaging camera and LiDAR sensor for reconnaissance and exploration that can be applied in battles below the platoon level. Using these drones, we studied the possibility and feasibility of drones for small-scale combats that can find hidden enemies, search for an appropriate detour through image processing and conduct reconnaissance and search for battlefields, hiding and cover-up through image processing. In addition to the purpose of using the proposed drone to search for an enemies lying in ambush in the battlefield, it can be used as a function to check the optimal movement path when a combat unit is moving, or as a function to check the optimal place for cover-up or hiding. In particular, it is possible to check another route other than the route recommended by the program because the features of the terrain can be checked from various viewpoints through 3D modeling. We verified the possiblity of flying by designing and assembling in a form of adding LiDAR and thermal imaging camera module to a drone assembled based on racing drone parts, which are open source hardware, and developed autonomous flight and search functions which can be used even by non-professional drone operators based on open source software, and then installed them to verify their feasibility.

• Journal of Cadastre & Land InformatiX
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• v.52 no.1
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• pp.69-80
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• 2022

Drone photogrammetry generally acquires images vertically or obliquely from above, so when photographing for the purpose of three-dimensional modeling, image matching for the ground of a building and spatial accuracy of point cloud data are poor, resulting in poor 3D mesh completeness. Therefore, to overcome this, this study analyzed the spatial accuracy of each drone image by acquiring smartphone images from the ground, and evaluated the accuracy improvement and completeness of 3D mesh when the smartphone image is not combined with the drone image. As a result of the study, the horizontal (x,y) accuracy of drone photogrammetry was about 1/200,000, similar to that of traditional photogrammetry. In addition, it was analyzed that the accuracy according to the photographing method was more affected by the photographing angle of the object than the increase in the number of photos. In the case of the smartphone image combination, the accuracy was not significantly affected, but the completeness of the 3D mesh was able to obtain a 3D mesh of about LoD3 that satisfies the digital twin city standard. Therefore, it is judged that it can be sufficiently used to build a 3D model for digital twin city by combining drone images and smartphones or DSLR images taken on the ground.