Vision Processing for Precision Autonomous Landing Approach of an Unmanned Helicopter

무인헬기의 정밀 자동착륙 접근을 위한 영상정보 처리

  • 김덕열 (충남대학교 항공우주공학과) ;
  • 김도명 (충남대학교 항공우주공학과) ;
  • 석진영 (충남대학교 항공우주공학과)
  • Published : 2009.01.01


In this paper, a precision landing approach is implemented based on real-time image processing. A full-scale landmark for automatic landing is used. canny edge detection method is applied to identify the outside quadrilateral while circular hough transform is used for the recognition of inside circle. Position information on the ground landmark is uplinked to the unmanned helicopter via ground control computer in real time so that the unmanned helicopter control the air vehicle for accurate landing approach. Ground test and a couple of flight tests for autonomous landing approach show that the image processing and automatic landing operation system have good performance for the landing approach phase at the altitude of $20m{\sim}1m$ above ground level.


  1. S.SaripaIIi,J.F.Montgomery,and G.S.Sukhatme,"Visionbased Autonomous Landing of an Unmanned Aerial Vehicle," IEEE International Conference onRobotics and Automation, 2002
  2. C. S. Sharp, O. Shakemia, and S. S. Sastry, "A VisionSystem for Landing an Unmanned Aerial Vehicle,"Proceedings of the 2001 IEEE International Conference on Robotics & Automation, 2001
  3. 정성환,이문후 OpenCV를 이용한 컴퓨터 비전 실무프로그래밍,홍릉과학출판사 2007
  4. D. H. Ballard, "Generalizing the Hough transform to detect arbitrary shapes," Pattern Recognition, vol. 13, no.2, pp. I 11-122, 1981
  5. C. Kimme, D. H. Ballard, and J. Sklansky, "Finding circlesby an array of accumulators," Communications of the Association for Computing Machinery, vol. 18, pp.120-122, 1975
  6. Intel Corporation, Open Source Computer Vision Library- Reference Manual, 1999
  7. 김병수, 김유단,방효충,닥민제,홍성경,비행동역학및 제어,경문사,2004
  8. 방극희, 김낙완, 홍창후 석진영, "자동화 비행시험기법에 의한 소형 무인헬리롭터의 파라메터 추정,"제어 • 로봇 · 시스템학회 논문지 제 14권 제9후 pp.916-924, 2008
  9. 김도명, 방극희, 장준제, 남수현, 김펙렬, 석진영, "무인헬기 α-rUI표디의 운용체계설계 및 비행시험," 한국항공우주학회 추계학술발표회, 부산.2006
  10. 검덕렬, 김도명, 석진영, “영상기반 거리측정 기법연구 한국항공우주학회 추계학술발표회, 제주, 2007

Cited by

  1. Hand Shape Classification using Contour Distribution vol.20, pp.6, 2014,
  2. A Study on the Image-based Automatic Flight Control of Mini Drone vol.25, pp.6, 2015,