JAXA Repository / AIREX 未来へ続く、宙(そら)への英知
65210000.pdf2.22 MB
Other TitleOptical measurement of the location of a small UAV based on body colour using a video camera on the ground
Author(jpn)五味, 広美
Author(eng)Gomi, Hiromi
Author Affiliation(jpn)宇宙航空研究開発機構航空プログラムグループ無人機・未来型航空機チーム (JAXA)
Author Affiliation(eng)Unmanned and Innovative Aircraft Team, Aviation Program Group, Japan Aerospace Exploration Agency (JAXA)
Issue Date2012-02-29
Japan Aerospace Exploration Agency (JAXA)
Publication title宇宙航空研究開発機構研究開発資料
JAXA research and development memorandum
Start page1
End page16
Publication date2012-02-29
AbstractA colour extraction algorithm was evaluated in order to steer a small UAV towards a narrow landing space. Colour samples and a small model airplane were painted red and captured by a colour video camera (1/2 inch single CCD, 640 × 480 picture element) out of doors. || The algorithm used RGB colour model and extracted red regions by the colour components of green and blue normalised by red. The ranges of the components were overlapped in ground and flight tests. Even under backlighting conditions, the algorithm worked well on the images when optimal exposure was selected for the airplane.
小型無人機を狭い地点に誘導し回収する高精度な位置計測方法として,色情報を使う方法を検討した.赤く塗った色見本と小型模型飛行機,1/2 インチCCD(640 × 480 画素)の単板式カラー・ビデオカメラを使用し,色抽出アルゴリズムを屋外試験で評価した. || 赤い部分を背景から抽出する為の閾値(赤を基準として規格化した緑と青の明るさの上限と下限)は基礎試験,地上試験,飛行試験でほぼ同じ値を得た. || 逆光時には機体は暗くなり,色抽出は出来なくなるが,画像全体では露出オーバーだが,機体に対しては色抽出に適正な露出の画像を得ることが出来れば,色抽出アルゴリズムは機能した.
DescriptionPhysical characteristics: Original contains color illustrations
形態: カラー図版あり
KeywordsUAV; unmanned aircraft; precise landing; image processing; colour extraction
Document TypeTechnical Report
JAXA Category研究開発資料
Report NoJAXA-RM-11-012

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