CAJ | 학술논문

针对四旋翼飞行器在室内环境下识别地面线状结构的问题，提出了一种改进的基于单目摄像头，提取线段并跟踪的方法；首先在图像中设置感兴趣的区域（ Region Of Interest，ROI），基于HSV颜色空间，根据颜色阈值提取出线段颜色；然后对ROI进行高斯滤波处理过滤图像的噪声，通过Canny边缘检测算法提取出线段的边缘；最后用概率霍夫变换（ Probabilistic Hough Transform，PHT）从预处理图像中拟合出直线，计算直线的方向向量实现四旋翼的路径跟踪；实验结果表明：该方法有效地提高了路径识别的效率，使四旋翼能够精确跟踪室内路径。
침대사선익비행기재실내배경하식별지면선상결구적문제，제출료일충개진적기우단목섭상두，제취선단병근종적방법；수선재도상중설치감흥취적구역（ Region Of Interest，ROI），기우HSV안색공간，근거안색역치제취출선단안색；연후대ROI진행고사려파처리과려도상적조성，통과Canny변연검측산법제취출선단적변연；최후용개솔곽부변환（ Probabilistic Hough Transform，PHT）종예처리도상중의합출직선，계산직선적방향향량실현사선익적로경근종；실험결과표명：해방법유효지제고료로경식별적효솔，사사선익능구정학근종실내로경。
Aiming at the problem of detecting linear shaped structures in a landscape for indoor quadrotor aircraft,an improved method based on monocular camera is provided for line detection and following. Firstly,a Region of Interest( ROI)window is divided from the image. An advanced alternative of the HSV-color filter is applied on every pixel to see whether it belongs to the line. Secondly,Gaussian Smoot-hing is applied to remove small distortions in the ROI. Finally,a Probabilistic Hough Transform( PHT)is performed to extract the line from the pre-processed image and determine a directional vector for making the platform move accordingly. Test results show that this method can effectively improve the line detection efficiency and ensure an accurate line-following task.