Implementation of Otsu Thresholding Method for UAV Landing Phase Using Raspberry Pi

Authors

  • Irtanto Wijaya Universitas Muhammadiyah Jakarta
  • Husnibes Muhammadiyah University of Jakarta

Keywords:

Unmanned Aerial Vehicle, Image processing, Otsu thresholding, Object recognition, Raspberry Pi

Abstract

Unmanned Aerial Vehicles (UAVs) in Indonesia are usually used for Aerial Photo and Aerial Video. UAVs are often used to take pictures from the air which will later be processed into an Orthophoto for surveying or monitoring purposes but often encounter problems during landing process due to insufficient land for runay and sometime this made UAV being damaged and the data taken some times was also damaged. One of the uses of technology to reduce UAV accident rate during landing process is using digital image processing which allows UAV to carry out the landing process by itself using a mini computer assistance called Raspberry Pi.
Method: Otsu thresholding is used for Image processing. There are several stages in this digital image processing process, including image taking, rotating, converting HSV, grayscale, Otsu thresholding, object recognition and decision making. And the testing was carried out in ten experiments with different values of sunlight intensity.
Results: For sunlight intensity values between 32,000 - 61,000 lux, UAV successfully landed with minor damage.
Conclusions: Otsu thresholding method is proven to function in adapting to several light intensity values. There were only 2 failures due to the very small value of the sunlight intensity.

Author Biography

Husnibes, Muhammadiyah University of Jakarta

I am a lecturer 

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Published

2023-02-23

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