TY - JOUR
T1 - Position identification using image processing for UAV flights in martian atmosphere
AU - Higashino, Shin Ichiro
AU - Teruya, Toru
AU - Yamada, Kazuhiko
N1 - Publisher Copyright:
© Fuji Technlogy Press Ltd.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
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U2 - 10.20965/jrm.2021.p0254
DO - 10.20965/jrm.2021.p0254
M3 - Article
AN - SCOPUS:85105932277
VL - 33
SP - 254
EP - 262
JO - Journal of Robotics and Mechatronics
JF - Journal of Robotics and Mechatronics
SN - 0915-3942
IS - 2
ER -