著作(論文等)

基本情報

氏名 永田　寅臣
氏名（カナ） ナガタ　フサオミ
氏名（英語） NAGATA Fusaomi
所属 山陽小野田市立山口東京理科大学工学部機械工学科
職名 教授
researchmap研究者コード 0000002519
researchmap機関

発表形態 

誌上とオンライン

					

					

						

							

								

									
掲載年月 

									
								

							

						

						
2020/08/08

					

					

						

							

								

									
掲載誌名等 

									
								

							

						

						
, Artificial Life and Robotics, Springer

					

					

						

							

								

									
論文名 

									
								

							

						

						
Visual feedback control of quadrotor by object detection in movies

					

					

						

							

								

									
著者名 

									
								

							

						

						
Lu Shao (M2), Fusaomi Nagata, Hiroaki Ochi, Akimasa Otsuka, Takeshi Ikeda, Keigo Watanabe, Maki K. Habib

					

					

						

							

								

									
巻 

									
								

							

						

						
Vol. 25,

					

					

						

							

								

									
号 

									
								

							

						

						
No. 3,

					

					

						

							

								

									
開始頁 

									
								

							

						

						
pp. 488

					

					

						

							

								

									
　 

									
								

							

						

						
～

					

					

						

							

								

									
終了頁 

									
								

							

						

						
494, 2020.

					

					

						

							

								

									
出版者(日本語) 

									
								

							

						

						
Springer

					

					

						

							

								

									
出版者(英語) 

									
								

							

						

						
Springer

					

					

						

							

								

									
概要 

									
								

							

						

						
In the previous report, the authors developed a quadrotor mission planning function using a smartphone and an autopilot function using GPS signals. In this paper, a visual feedback control is considered so that the system can automatically recognize the existence of an object in images or movies acquired by a quadrotor with a surveillance camera and this enables the quadrotor to track the object within the operational environment without using GPS signals. The visual feedback control is realized by automatic object recognition based on techniques of computer vision, in which the center of gravity position in the image coordinate system can be obtained from color or shape information. A visual feedback control application for flight control of DJI's quadrotor Matrice100, and image analysis software are developed using Xcode and MATLAB, respectively. The validity and effectiveness are evaluated through experiments.