The present invention relates to a moving object detection device to avoid collision with an unmanned aerial vehicle (UAV), capable of applying a background separation algorithm for a fixated camera to a moving camera, such as a UAV environment, thereby easily applying an algorithm with excellent performance to the UAV environment with limited resources; and a method thereof. According to the present invention, as motion information is received from a sensor mounted on a UAV, ego-motion of a camera is effectively corrected, thereby solving a problem of recognizing background as an object, thus being able to apply a low complexity Gaussian mixture model (GMM)-based background subtraction (BS) algorithm, which provides high performance in a fixated camera, but is not usable in a moving camera environment such as the UAV, to the UAV having limited resources. Therethrough, provided is an effect capable of providing a real-time moving object detection perform of high performance. According to the present invention, the device comprises: a camera motion correction unit; a GMM-based background generation unit; and an object detection unit.

    본 발명은 고정 카메라를 위한 백그라운드 분리 알고리즘을 무인 비행체 환경과 같은 이동 카메라에 적용할 수 있도록 함으로써 우수한 성능의 알고리즘을 자원이 한정된 UAV 환경에 용이하게 적용할 수 있도록 한 무인 비행체 충돌 회피를 위한 이동 객체 검출 장치 및 방법에 관한 것으로, 고정 카메라에서는 우수한 성능을 제공하지만 무인 비행체(UAV)와 같은 이동 카메라 환경에서는 사용할 수 없었던 GMM(Gaussiann mixture model) 기반 BS(background subtraction)알고리즘을 UAV에 탑재된 센서로부터 모션 정보를 제공 받아 카메라의 움직임(ego-motion)을 효과적으로 보정하여 배경이 객체로 인식되는 문제를 해결함으로써 제한된 자원을 가지는 UAV에 복잡도가 낮은 GMM 기반 BS 알고리즘을 적용할 수 있으며, 이를 통해 높은 성능의 실시간 이동 객체 검출 성능을 제공할 수 있는 효과가 있다.


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    Title :

    Moving object detecting apparatus for unmanned aerial vehicle collision avoidance and method thereof


    Additional title:

    무인 비행체 충돌 회피를 위한 이동 객체 검출 장치 및 방법


    Contributors:

    Publication date :

    2017-12-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64C AEROPLANES , Flugzeuge / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen




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