簡易檢索 / 詳目顯示

回結果列表
研究生： 黃佩瑩
Huang, Pei-Ying
論文名稱： 以影像識別方法進行跑道偵測於固定翼無人飛機之實現
Realization of Vision-based Runway Detection for Fixed-wing UAV
指導教授： 蕭飛賓
Hsiao, Fei-Bin
學位類別： 碩士
Master
系所名稱： 工學院 - 航空太空工程學系
Department of Aeronautics & Astronautics
論文出版年： 2009
畢業學年度： 97
語文別： 英文
論文頁數： 72
中文關鍵詞： 線性平滑化 、顏色濾波 、機器影像視覺系統 、霍夫轉換 、邊界判斷 、無人飛行載具 、二值化
外文關鍵詞： thresholding, vision-based system, Hough transform, UAV, linear smoothly filtering, edge detection, color filtering
相關次數： 點閱：119  下載：8 
分享至:
查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報

    • 本研究的目的是建立一個機器影像視覺系統，於無人飛行載具準備降落時提供跑道偵測的功能。當飛機已經偏離著陸跑道的中心線時，影像視覺系統可由機載影像系統所得到的畫面偵測到此變化。利用影像處理方法對影像進行顏色濾波、線性平滑化、二值化、邊界判斷和霍夫轉換。針對處理後的影像進行跑道偵測之運算，可得到參考航向和降落點，將之回饋飛行控制系統。
    整個系統和方法論已於實際飛行測試得到驗證。在飛行測試中，硬體系統與影像系統裝載於飛行載具，並將飛行數據和機載系統拍攝到的影像回傳給地面控制站。地面控制站利用本研究提出的方法，成功得到測定參考航向和參考降落點。

    The purpose of this research is to build a machine vision-based system to detect the runway when the UAV prepares to enter the landing procedures. When the airplane has diverged from the centerline of the runway, the vision-based system can detect the variation by the scenes captured from onboard camera. Using the image processing methods such as the color filtering, linear smoothly filtering, thresholding, edge detection, and Hough transforms were utilized. The reference heading and reference touch down point can be obtained by performing series of mathematical manipulation based on the processing image, and then the visual system may feed the information to the flight control system.
    The whole system and methodology has been demonstrated in flight test. In the flight tests, the hardware system and visual system are installed in the aerial vehicle, and they transmitted the flight data and video signal captured by the CCD camera to the ground control station. The ground control system uses the methodology which proposed in this research to determine the reference heading angle and reference touch down point position successfully.

    CONTENTS 中文摘要 I ABSTRACT II ACKNOWLEDGEMENTS III CONTENTS IV LIST OF FIGURES VI LIST OF TABLES VIII NOMENCLATURE IX 1 INTRODUCTION 1 1.1 INTRODUCTION TO UNMANNED AERIAL VEHICL 1 1.2 MOTIVATION AND OBJECTIVES 3 1.3 LITERATURE SURVEY 4 1.4 THESIS OUTLINE 4 2 DIGITAL IMAGE PROCESSING 6 2.1 COLOR PROCESSING 6 2.1.1 COLOR SPACE 6 2.1.2 COLOR SEGMENTATION 7 2.2 EDGE DETECTION 8 2.2.1 FREI-CHEN EDGE MASKS 9 2.2.2 LINEAR SMOOTHING FILTERING 11 2.3 BINARIZATION 12 2.4 DETECTION OF THE CENTER LINE OF RUNWAY 15 3 METHODOLOGY 19 3.1 REFERENCE HEADING DETECTION 19 3.2 LATERAL GROUND DISTANCE DETERMINATION 21 3.3 LONGITUDINAL GROUND DISTANCE DETERMINATION 24 3.3.1 RELATIONSHIP BETWEEN PIXEL AND DISTANCE 27 3.4 REFERENCE TOUCH DOWN POINT 29 4 HARDWARE SYSTEM OVERVIEW 32 4.1 VISUAL SYSTEM HARDWARE 33 4.2 FLIGHT SENSOR SYSTEM HARDWARE 34 4.3 GROUND CONTROL STATION 37 4.4 VEHICLE 38 5 RESULT OF FLIGHT TEST 40 5.1 THE FLIGHT TEST AND RESULT OF REFERENCE HEADING 41 5.2 THE FLIGHT TEST AND RESULT OF REFERENCE TOUCH DOWN POINT 48 6 CONCLUSION 57 6.1 CONCLUDING REMARKS 57 6.2 FUTURE WORKS 58 REFERENCES 59 VITA 61

    [1] Camera gimbals -http://www.cctvwa.com/
    [2] RMRL website -http://rpv.iaa.ncku.edu.tw/
    [3] M.T. Lee, “A System Engineering Approach for Unmanned Aerial Vehicle System Development with Autonomous and Ground Tracking Capability”, PhD dissertation, Institute of Aeronautics and Astronautics, National Cheng Kung University, June 2007.
    [4] T.L. Liu, “The Development of a Target-Lockup Optical Remote Sensing System for Unmanned Aerial Vehicle”, Master thesis, Institute of Aeronautics and Astronautics, National Cheng Kung University, June 2004.
    [5] C.C. Chen, “Moving Ground Target Auto-Tracking CCD Imaging System Development for UAV”, Master thesis, Institute of Aeronautics and Astronautics, National Cheng Kung University, June 2006.
    [6] L.C. Tseng, “Optical Flow-based Obstacle Avoidance for Fixed Wing UAV in Uncertain Environment”, Master thesis, Institute of Aeronautics and Astronautics, National Cheng Kung University, June 2007.
    [7] Y.H. Cheng, “Vision-Based Track Following for Unmanned Aerial Vehicle”, Master thesis, Institute of Aeronautics and Astronautics, National Cheng Kung University, June 2008.
    [8] J.J. Shang and Z.K. Shi, “Vision-based Runway Recognition for UAV Autonomous Landing”, International Journal of Computer Science and Network Security, vol.7 ,no.3, pp. 112-117, March 2007
    [9] RGB cube-http://www.mathworks.com/
    [10] YCbCr cube–http://www.couleur.org
    [11] C. Poynton, Digital Video and HDTV, Chapter 24, pp. 291-292, Morgan Kaufman, 2003.
    [12] C. Gonzalez and E. Woods, “Digital Image Processing”, Prentice-Hall International, pp. 572-584, 119-124, 595-596, 587-591, Inc, 2002.
    [13] w. Frei and c.c. Chen, “Fast boundary detection: A Generalization and a New Algorithm”, IEEE Trans. Computers., vol. C-26, no. 10, pp. 988-998, 1997.
    [14] N. Otsu, “A Threshold Selection Method from Gray-Level Histograms”, IEEE Trans. On System, Man and Cybernetics, vol. SMC-9, no. 1, pp. 62-66, 1979.
    [15] Google Map - http://maps.google.com.tw/
    [16] P.V.C. Hough, “Methods and Means for Recognizing Complex Patterns” U.S. Patent 3,069,654, 1962.

    下載圖示 校內：立即公開
    校外：2009-07-10公開
    QR CODE