TY - GEN
T1 - A method for unmanned rotorcraft to detect circular markers
AU - Ma, Yuan
AU - Pan, Feng
AU - Su, Haijun
AU - Li, Weixing
AU - Gao, Qi
N1 - Publisher Copyright:
© 2014 TCCT, CAA.
PY - 2014/9/11
Y1 - 2014/9/11
N2 - Detection of circular markers in a complex environment is an important task for the unmanned rotorcraft. In this paper, according to the analysis and comparison of computational complexity, noise sensitivity and detection accuracy between the standard Hough transform (SHT) and the gradient Hough transform (GHT) algorithm, it is proposed a hybrid algorithm for circular markers detection (HA-CMD) which balances the constraint of computational capability of the embedded system and the requirement of detection accuracy. Corresponding to the altitude, there are two strategies utilized, that, the adaptive radius algorithm combined with SHT and cluster analysis is applied in the high-altitude recognition area, moreover, the former circular tracking technique combined with GHT is introduced to reduce misjudgment in the low-altitude area. The proposed algorithm is tested on an unmanned rotorcraft. The experiment results demonstrate the effectiveness and show an effectively balance.
AB - Detection of circular markers in a complex environment is an important task for the unmanned rotorcraft. In this paper, according to the analysis and comparison of computational complexity, noise sensitivity and detection accuracy between the standard Hough transform (SHT) and the gradient Hough transform (GHT) algorithm, it is proposed a hybrid algorithm for circular markers detection (HA-CMD) which balances the constraint of computational capability of the embedded system and the requirement of detection accuracy. Corresponding to the altitude, there are two strategies utilized, that, the adaptive radius algorithm combined with SHT and cluster analysis is applied in the high-altitude recognition area, moreover, the former circular tracking technique combined with GHT is introduced to reduce misjudgment in the low-altitude area. The proposed algorithm is tested on an unmanned rotorcraft. The experiment results demonstrate the effectiveness and show an effectively balance.
KW - Circle detection
KW - Gradient Hough transform (GHT)
KW - Standard Hough transform (SHT)
KW - Unmanned rotorcraft
UR - http://www.scopus.com/inward/record.url?scp=84907923320&partnerID=8YFLogxK
U2 - 10.1109/ChiCC.2014.6895743
DO - 10.1109/ChiCC.2014.6895743
M3 - Conference contribution
AN - SCOPUS:84907923320
T3 - Proceedings of the 33rd Chinese Control Conference, CCC 2014
SP - 4758
EP - 4762
BT - Proceedings of the 33rd Chinese Control Conference, CCC 2014
A2 - Xu, Shengyuan
A2 - Zhao, Qianchuan
PB - IEEE Computer Society
T2 - Proceedings of the 33rd Chinese Control Conference, CCC 2014
Y2 - 28 July 2014 through 30 July 2014
ER -