Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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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

Abstract

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.

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