특징점 산출 알고리즘을 적용한 고해상도 해저지형 생성기법 개발

김현승¹^{, *} ; 현철² ; 이성균² ; 김창환² ; 고진용²

1LIG넥스원 전장분석개발팀 선임연구원
2LIG넥스원 전장분석개발팀 수석연구원

Development of High-resolution Seafloor Topograph Map Generation Techniques Applying Feature Point Detection Algorithm

Hyunseung Kim¹^{, *} ; Chul Hyun² ; Sungkyun Lee² ; Changhwan Kim² ; Jinyong Go²

1Senior researcher, Dept. of Battlefield Analysis and Development, LIG Nex1
2Principal researcher, Dept. of Battlefield Analysis and Development, LIG Nex1

Correspondence to: ^*Hyunseung Kim Dept. of Battlefield Analysis and Development, LIG Nex1 333 Pangyo-ro, Bundang-gu, Seongnam-si, Gyeonggi-do, 13488, Republic of Korea Tel: +82-31-5179-7272 Fax: +82-31-5179-7086 E-mail: hyunseung.kim2@lignex1.com

초록

본 논문에서는 실제 보유한 수심데이터에서 해저산의 중심을 산출하여 거리 1.5 m 간격의 고해상도 해저지형도를 모델링하는 기법을 제안한다. Harris 코너 검출, FAST 알고리즘을 이용하여 해저산 중심 위치를 예측하고, 주변 해저지형을 생성하였다. 거리 1.6 km 간격의 실제 해저지형 수심 데이터와 모델링한 고해상도 해저지형을 검증한 결과, 오차 수준이 2.5 m 이내임을 확인하였다. 제안한 알고리즘은 수중운동체의 자율주행을 위한 경로계획 수립에 활용될 것으로 기대된다.

Abstract

In this paper, we propose a technique to model high resolution seafloor topography with 1.5 m intervals by detecting the center of the seafloor mountain in irregular seafloor topography. Using Harris corner detection and FAST algorithms, the location of the center of seafloor mountain was predicted. The modeled high-resolution seafloor topography was verified within 2.5 m mean error between the actual warder dept data. The proposed algorithm is expected to be used to establish a path plan for autonomous navigation of underwater vehicle.

Keywords:

Underwater Topology, Sea Mountain, Feature Point Detection Algorithm, Harris Corner Detection, Features from Accelerated Segment Test, Digital Twin,

키워드:

해저지형도, 해저산, 특징점 산출 알고리즘, 해리스 코너 검출, FAST 알고리즘, 디지털 트윈

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