국내 최대 기계 및 로봇 연구정보

기술보고서

기술보고서 게시판 내용
타이틀	Study of Obstacle Detection by Integrating Kinematic GPS with Camera Images for Taxi Guidance
저자	Tomoko KATO, Masatoshi HARIGAE, Toshiaki TSUJI, Masaaki MURATA
Keyword	kinematic GPS; obstacle detection; camera image; taxi guidance
URL	http://send.nal.go.jp/send/jpn/dlpdf.php3/naltr0001395.pdf?id=NALTR0001395
보고서번호	NAL TR-1395
발행년도	1999.11
출처	NAL (National Aerospace Laboratory of Japan)
ABSTRACT	Achieving more efficient traffic control and improved flight safety in and around airports are among the most important issues for aeronautical engineering. For this purpose, it is essential to realize the free flight led by an autonomous air traffic control with a collision avoidance function and the highly precise satellite navigation that enables airplanes to make instrumental landings that meet the category III C standard. Focusing on the taxi guidance phase in which an airplane taxis on a taxi-way, this report deals with how to build a navigation system which not only precisely measures the airplane's position but also detects obstacles in its path to avoid collision. This system combines satellite navigation（kinematic GPS）with camera images. The idea is to detect obstacles by calculating the difference between the information produced by the synthetic vision of the kinematic GPS and that produced by the camera images. This is the first study to propose this type of method for detecting obstacles. Carrying the system, an airplane will be capable of the autonomous traffic control and management in the taxi guidance, detecting obstacles in its way and measuring their position（both in terms of distance and direction）relative to itself. To evaluate the actual performance of this method of detecting obstacles on a taxi-way, we constructed a kinematic GPS/camera experimental system for an automobile and analyzed the test data off-line. The results showed that the proposed navigation system was capable of detecting obstacles and measuring their relative position.