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JRM Vol.33 No.2 pp. 254-262
doi: 10.20965/jrm.2021.p0254
(2021)

Paper:

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Position Identification Using Image Processing for UAV Flights in Martian Atmosphere

Shin-Ichiro Higashino*, Toru Teruya*, and Kazuhiko Yamada**

*Department of Aeronautics and Astronautics, Kyushu University
744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan

**Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency
3-1-1 Yoshinodai, Chuo-ku, Sagamihara, Kanagawa 050-3540, Japan

Received:
September 26, 2020
Accepted:
January 19, 2021
Published:
April 20, 2021
Creative Commons License
Keywords:
position identification, Martian atmospheric flight, image processing, cascade object detector, RT-method
Abstract

This paper presents a method for the position identification of an unmanned aerial vehicle (UAV) in the Martian atmosphere in the future. It uses the image processing of craters captured via an onboard camera of the UAV and database images. The method is composed of two processes: individual crater detection using a cascade object detector and position identification using the recognition Taguchi (RT)-method. In crater detection, objects with shapes that resemble craters are detected regardless of their positions, and the positions of multiple detected craters are identified using the criterion variable D*, which is a normalized Mahalanobis distance. D* is calculated from several feature variables expressing the area ratios and relative positions of the detected craters in the RT-method.

Examples of craters detected using the trained cascade object detector

Examples of craters detected using the trained cascade object detector

Cite this article as:
S. Higashino, T. Teruya, and K. Yamada, “Position Identification Using Image Processing for UAV Flights in Martian Atmosphere,” J. Robot. Mechatron., Vol.33 No.2, pp. 254-262, 2021.
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Last updated on Dec. 06, 2024