장면 인식을 이용한 무인 비행체 회귀 제어 방법이 제공된다. 본 발명의 실시 예에 따른 비행 제어 방법은, 비행하면서 획득한 영상들로부터 키 프레임들을 추출하여 저장하고, 키 프레임들을 역순으로 나열하여 회귀 경로를 생성하며, 촬영 영상과 키 프레임들을 비교하여 비행을 제어한다. 이에 의해, 온라인 장면 인식을 통한 무인 비행체 회귀 경로 계산으로, GPS 오차에 강인하며, GPS 신호 유무에 상관없이 GPS 기반 회귀 대비 높은 정확도로 회귀를 수행할 수 있게 된다.

    An unmanned aerial vehicle homing control method using scene recognition is provided. A flight control method according to an embodiment of the present invention includes extracting and storing key frames from images acquired while flying, generating a homing path by rearranging the key frames in a reverse order, and comparing the captured images with the key frames. As a result, by calculating an unmanned aerial vehicle homing path through on-line scene recognition, it is possible to perform a homing function robust to GPS errors with high accuracy compared to a GPS-based homing function regardless of the presence or absence of a GPS signal.


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    Title :

    Unmanned Aerial Vehicle Homing Control Method using Scene Recognition


    Additional title:

    장면 인식을 이용한 무인 비행체 회귀 제어 방법


    Publication date :

    2018-11-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G03B APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM , Geräte oder Anordnungen zum Aufnehmen, Projizieren oder Betrachten von Fotografien / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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