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Improvement of Processing Speed for UAV Attitude Information Estimation Using ROI and Parallel Processing

  • Journal of The Korea Society of Computer and Information
  • Abbr : JKSCI
  • 2021, 26(1), pp.155-161
  • DOI : 10.9708/jksci.2021.26.01.155
  • Publisher : The Korean Society Of Computer And Information
  • Research Area : Engineering > Computer Science
  • Received : December 7, 2020
  • Accepted : January 14, 2021
  • Published : January 29, 2021

Ha Seok Wun 1,  Myeong-Chul Park 2

1경상대학교
2경운대학교

Accredited

ABSTRACT

Recently, researches for military purposes such as precision tracking and mission completion using UAVs have been actively conducted. In particular, if the posture information of the leading UAV is estimated and the mission UAV uses this information to follow in stealth and complete its mission, the speed of the posture information estimation of the guide UAV must be processed in real time. Until recently, research has been conducted to accurately estimate the posture information of the leading UAV using image processing and Kalman filters, but there has been a problem in processing speed due to the sequential processing of the processing process. Therefore, in this study we propose a way to improve processing speed by applying methods that the image processing area is limited to the ROI area including the object, not the entire area, and the continuous processing is distributed to OpenMP-based multi-threads and processed in parallel with thread synchronization to estimate attitude information. Based on the experimental results, it was confirmed that real-time processing is possible by improving the processing speed by more than 45% compared to the basic processing, and thus the possibility of completing the mission can be increased by improving the tracking and estimating speed of the mission UAV.

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This paper was written with support from the National Research Foundation of Korea.
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