| Title |
Algorithm for Deriving Position Measurement Based on Automatically Saved Image Matching |
| Authors |
황동윤(Dong-Yun Hwang) ; 서경욱(Kyeong-Wook Seo) ; 이민호(Min-Ho Lee) ; 김용훈(Yong-Hun Kim) ; 송진우(Jin-Woo Song) |
| DOI |
https://doi.org/10.5370/KIEE.2025.74.3.491 |
| Keywords |
INS; Georeferencing; Image match; Drone navigation; Return to home mission |
| Abstract |
In this paper, we propose an algorithm that equips a drone with a monocular camera and a laser range finder to derive position measurements for smooth mission execution and return to the home position, even in situations where GNSS is not available. This algorithm stores images and create an orthoimage when GNSS is available, and from the time the GNSS signal is lost, it matches the current image with the database image based on image feature point matching to determine the drone's current location and to employ return to home mission. We validated the algorithm with data acquired from actual drone flights and confirmed that the proposed algorithm could be used practically and effectively with sufficient accuracy for return to home mission. |