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Unmanned aerial vehicle (UAV) needs unmanned ground vehicle (UGV) searching the areas, such as tunnel inside the mountain. The technology of UGV extraction image features of mountain tunnel portal is very important. This paper implies embedded hardware platform to realize the UGV scanning environment image contour feature extraction. A new digital image processing algorithm with MATLAB is expressed for miniaturization real-time image contour feature extraction procedure. The processing speed is fast enough for real-time search task. Otsu method is implied to determine the threshold value, combining with Sobel operator, Prewitt operator and Canny operator to verify that Canny operator has the best effect in images contour extraction. The contour is precision with small amount of calculation. Index Terms - UAV, cooperative search, wireless communication, image feature extraction, 3G SIM card networking

Research of contour extraction for mountain tunnel entrance images