Method and apparatus for searching a landing site of aircraft using a depth map

摘要

Disclosed are a method and a device for determining a landing position of a multi-rotor using a depth map. The method for determining a landing position of a multi-rotor by a device for determining a landing position comprises the steps of photographing topography using a stereo vision and generating a depth map image; generating a boundary line image by extracting a boundary line from the generated depth map image; performing a distance conversion for the boundary line of the boundary line image; setting a circle center of an inscribed circle having the largest radius of the inscribed circles derived using the distance conversion result as a candidate landing area; and generating a control signal for moving the multi-rotor to the candidate landing area, thereby effectively determining the landing position of the multi-rotor by analyzing the topography in the state that information is not provided in advance. [Reference numerals] (110) Depth map generation unit;(120) Boundary line image generation unit;(130) Distance conversion unit;(140) Candidate area setting unit;(150) Multi-rotor movement unit;(160) Storage unit;(170) Control unit