Ortho-imaging of Aerial Video and Application on Navigation for Unmanned Aerial Vehicle

• Main Authors: Chih-HauHu, 胡志豪
• Other Authors: Fei-Bin Hsiao
• Format: Others
• Language: en_US
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/21950251320279129288

碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 98 === The purpose of this thesis is to construct a vision-based system which can combine the images taken via UAV from different orientations into a single plane, so that the processed images can be analyzed and applied to navigation and target positioning applications. When the UAV has an imaging system, after we obtain the 3-D images along with the attitude parameters, the images are rotated and ortho-image are created. After that, GPS position fix on 2-D plane is integrated with the processed images. Therefore, we can not only locate the ground target’s coordinate which is in the camera’s view, but also utilize the resultant images which can be served as navigation map. The whole system and the methodology been verified via flight test. Through the real time down-linking of attitude, position, and images from UAV, we can pinpoint a target and displayed those aerial photos on the ground station’s monitor in real time successfully. Besides, it also maps the ortho-images into an local area image map. By introducing the post-processing method, high accuracy flight data from onboard computer, along with the recorded images can result in a more accurate solution.