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dc.contributor.authorGuerra Paradas, Edmundo
dc.contributor.authorMunguía Alcalá, Rodrigo Francisco
dc.contributor.authorGrau Saldes, Antoni
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2018-10-18T08:50:15Z
dc.date.available2018-10-18T08:50:15Z
dc.date.issued2018-06-28
dc.identifier.citationGuerra, 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.issn1424-8220
dc.identifier.urihttp://hdl.handle.net/2117/122568
dc.description.abstractThis 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.extent20 p.
dc.language.isoeng
dc.publisherMultidisciplinary Digital Publishing Institute (MDPI)
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshAutomatic control
dc.subject.otherUnmanned Autonomous Vehicle
dc.subject.otherpose determination
dc.subject.otherLiDAR registration
dc.subject.otherapparent contour
dc.titleUAV visual and laser sensors fusion for detection and positioning in industrial applications
dc.typeArticle
dc.subject.lemacControl automàtic
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.3390/s18072071
dc.relation.publisherversionhttp://www.mdpi.com/1424-8220/18/7/2071/pdf
dc.rights.accessOpen Access
local.identifier.drac23346218
dc.description.versionPostprint (published version)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/H2020/644271/EU/AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance/AEROARMS
local.citation.authorGuerra, E.; Munguia, R.F.; Grau, A.
local.citation.publicationNameSensors
local.citation.volume18
local.citation.number2071
local.citation.startingPage1
local.citation.endingPage20
dc.identifier.pmid29958450


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