Position Identification Using Image Processing for UAV Flights in Martian Atmosphere
This paper presents a method for the position identification of an unmanned aerial vehicle (UAV) in the Martian atmosphere in the future. It uses the image processing of craters captured via an onboard camera of the UAV and database images. The method is composed of two processes: individual crater...
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| Veröffentlicht in: | Journal of robotics and mechatronics 2021-04, Vol.33 (2), p.254-262 |
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| container_title | Journal of robotics and mechatronics |
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| creator | Higashino, Shin-Ichiro Teruya, Toru Yamada, Kazuhiko |
| description | This paper presents a method for the position identification of an unmanned aerial vehicle (UAV) in the Martian atmosphere in the future. It uses the image processing of craters captured via an onboard camera of the UAV and database images. The method is composed of two processes: individual crater detection using a cascade object detector and position identification using the recognition Taguchi (RT)-method. In crater detection, objects with shapes that resemble craters are detected regardless of their positions, and the positions of multiple detected craters are identified using the criterion variable D * , which is a normalized Mahalanobis distance. D * is calculated from several feature variables expressing the area ratios and relative positions of the detected craters in the RT-method. |
| doi_str_mv | 10.20965/jrm.2021.p0254 |
| format | Article |
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It uses the image processing of craters captured via an onboard camera of the UAV and database images. The method is composed of two processes: individual crater detection using a cascade object detector and position identification using the recognition Taguchi (RT)-method. In crater detection, objects with shapes that resemble craters are detected regardless of their positions, and the positions of multiple detected craters are identified using the criterion variable D * , which is a normalized Mahalanobis distance. D * is calculated from several feature variables expressing the area ratios and relative positions of the detected craters in the RT-method.</description><identifier>ISSN: 0915-3942</identifier><identifier>EISSN: 1883-8049</identifier><identifier>DOI: 10.20965/jrm.2021.p0254</identifier><language>eng</language><publisher>Tokyo: Fuji Technology Press Co. 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| source | J-STAGE Free; DOAJ Directory of Open Access Journals; Freely Accessible Japanese Titles; EZB-FREE-00999 freely available EZB journals |
| subjects | Image processing Mars atmosphere Mars craters Object recognition Shape recognition Taguchi methods Unmanned aerial vehicles |
| title | Position Identification Using Image Processing for UAV Flights in Martian Atmosphere |
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