UAV visual and laser sensors fusion for detection and positioning in industrial applications
Visualitza/Obre
Cita com:
hdl:2117/122568
Tipus de documentArticle
Data publicació2018-06-28
EditorMultidisciplinary Digital Publishing Institute (MDPI)
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
This work presents a solution to localize Unmanned Autonomous Vehicles with respect to
pipes and other cylindrical elements found in inspection and maintenance tasks both in industrial and
civilian infrastructures. The proposed system exploits the different features of vision and laser based
sensors, combining them to obtain accurate positioning of the robot with respect to the cylindrical
structures. A probabilistic (RANSAC-based) procedure is used to segment possible cylinders found
in the laser scans, and this is used as a seed to accurately determine the robot position through
a computer vision system. The priors obtained from the laser scan registration help to solve the
problem of determining the apparent contour of the cylinders. In turn this apparent contour is used
in a degenerate quadratic conic estimation, enabling to visually estimate the pose of the cylinder.
CitacióGuerra, E., Munguia, R.F., Grau, A. UAV visual and laser sensors fusion for detection and positioning in industrial applications. "Sensors", 28 Juny 2018, vol. 18, núm. 2071, p. 1-20.
ISSN1424-8220
Versió de l'editorhttp://www.mdpi.com/1424-8220/18/7/2071/pdf
Fitxers | Descripció | Mida | Format | Visualitza |
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sensors-18-02071.pdf | 1,649Mb | Visualitza/Obre |