영상 객체 검출을 이용한 드론과 지상로봇의 센서 융합 도킹 시스템 = Sensor Fusion Docking System of Drone and Ground Vehicles Using Image Object Detection

다국어 초록 (Multilingual Abstract)

Recent studies for working robot in dangerous places have been carried out on large unmanned ground vehicles or 4-legged robots with the advantage of long working time, but it is difficult to apply in practical dangerous fields which require the real-time system with high locomotion and capability of delicate working. This research shows the collaborated docking system of drone and ground vehicles which combines image processing algorithm and laser sensors for effective detection of docking markers, and is finally capable of moving a long distance and doing very delicate works. We proposed the docking system of drone and ground vehicles with sensor fusion which also suggests two template matching methods appropriate for this application. The system showed 95% docking success rate in 50 docking attempts.

참고문헌 (Reference)

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