Position identification using image processing for UAV flights in martian atmosphere

Shin Ichiro Higashino, Toru Teruya, Kazuhiko Yamada

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper presents a method for the position identification of an unmanned aerial vehicle (UAV) in the Martian atmosphere in the future. It uses the image processing of craters captured via an onboard camera of the UAV and database images. The method is composed of two processes: individual crater detection using a cascade object detector and position identification using the recognition Taguchi (RT)-method. In crater detection, objects with shapes that resemble craters are detected regardless of their positions, and the positions of multiple detected craters are identified using the criterion variable D, which is a normalized Mahalanobis distance. Dis calculated from several feature variables expressing the area ratios and relative positions of the detected craters in the RT-method.

Original languageEnglish
Pages (from-to)254-262
Number of pages9
JournalJournal of Robotics and Mechatronics
Issue number2
Publication statusPublished - 2021

All Science Journal Classification (ASJC) codes

  • General Computer Science
  • Electrical and Electronic Engineering


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