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UAV visual and laser sensors fusion for detection and positioning in industrial applications
dc.contributor.author | Guerra Paradas, Edmundo |
dc.contributor.author | Munguía Alcalá, Rodrigo Francisco |
dc.contributor.author | Grau Saldes, Antoni |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2018-10-18T08:50:15Z |
dc.date.available | 2018-10-18T08:50:15Z |
dc.date.issued | 2018-06-28 |
dc.identifier.citation | Guerra, 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. |
dc.identifier.issn | 1424-8220 |
dc.identifier.uri | http://hdl.handle.net/2117/122568 |
dc.description.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. |
dc.format.extent | 20 p. |
dc.language.iso | eng |
dc.publisher | Multidisciplinary Digital Publishing Institute (MDPI) |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Automatic control |
dc.subject.other | Unmanned Autonomous Vehicle |
dc.subject.other | pose determination |
dc.subject.other | LiDAR registration |
dc.subject.other | apparent contour |
dc.title | UAV visual and laser sensors fusion for detection and positioning in industrial applications |
dc.type | Article |
dc.subject.lemac | Control automàtic |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.3390/s18072071 |
dc.relation.publisherversion | http://www.mdpi.com/1424-8220/18/7/2071/pdf |
dc.rights.access | Open Access |
local.identifier.drac | 23346218 |
dc.description.version | Postprint (published version) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/H2020/644271/EU/AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance/AEROARMS |
local.citation.author | Guerra, E.; Munguia, R.F.; Grau, A. |
local.citation.publicationName | Sensors |
local.citation.volume | 18 |
local.citation.number | 2071 |
local.citation.startingPage | 1 |
local.citation.endingPage | 20 |
dc.identifier.pmid | 29958450 |
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