The present invention relates to a 2D histogram generation method for making a drone avoid a collision with an obstacle. In order for the drone to be able to drive autonomously at high speeds while avoiding the collision with the obstacle located in the direction of travel, distance detection for obstacles located not only at short distances but also at long distances is essential. Therefore, sensors for long-distance obstacle measurement such as LiDAR sensors can be applied, but it is difficult to install high-cost and heavy long-distance measurement sensors such as LiDAR sensors on small drones. The present invention relates to the method of generating a 2D histogram which can be applied to an autonomous navigation algorithm of the drone so as to replace the high-cost and heavy long-distance measurement sensors.

    본 발명은 드론의 장애물 충돌회피를 위한 2D 히스토그램 생성방법에 관한 것으로서, 드론이 주행 방향에 위치된 장애물과의 충돌을 회피하면서 고속으로 자율주행할 수 있기 위해서는, 단거리뿐만 아니라 장거리에 위치된 장애물에 대한 거리탐지가 필수적이고, 이에 라이다 센서와 같은 장거리 장애물 측정용 센서가 적용될 수 있지만, 이러한 라이다 센서와 같은 고비용 및 고중량의 장거리 측정용 센서가 소형 드론에 탑재되기에는 무리가 있는 바, 이러한 고비용 및 고중량의 장거리 측정용 센서를 대체할 수 있도록 드론의 자율주행 알고리즘에 적용될 수 있는 2D 히스토그램을 생성하는 방법에 관한 것이다.


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    Titel :

    2D A 2D histogram creation mehtod for making drone avoid collision with obstacle


    Weitere Titelangaben:

    드론의 장애물 충돌회피를 위한 2D 히스토그램 생성방법


    Beteiligte:
    KIM SONG HYUN (Autor:in) / HAN SANG SOO (Autor:in) / SHIN SUNG GYUN (Autor:in)

    Erscheinungsdatum :

    2023-05-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B64C AEROPLANES , Flugzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen




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