Name
Abstract | ||
|---|---|---|
We present a pole inspection system for outdoor environments comprising a high-speed camera on a vertical take-off and landing (VTOL) aerial platform. The pole inspection task requires a vehicle to fly close to a structure while maintaining a fixed stand-off distance from it. Typical GPS errors make GPS-based navigation unsuitable for this task however. When flying outdoors a vehicle is also affected by aerodynamics disturbances such as wind gusts, so the onboard controller must be robust to these disturbances in order to maintain the stand-off distance. Two problems must therefor be addressed: fast and accurate state estimation without GPS, and the design of a robust controller. We resolve these problems by a) performing visual + inertial relative state estimation and b) using a robust line tracker and a nested controller design. Our state estimation exploits high-speed camera images (100Hz) and 70Hz IMU data fused in an Extended Kalman Filter (EKF). We demonstrate results from outdoor experiments for pole-relative hovering, and pole circumnavigation where the operator provides only yaw commands. Lastly, we show results for image-based 3D reconstruction and texture mapping of a pole to demonstrate the usefulness for inspection tasks. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1007/978-3-319-07488-7_8 | Springer Tracts in Advanced Robotics |
Field | DocType | Volume |
Computer vision,Texture mapping,Extended Kalman filter,Control theory,Artificial intelligence,Global Positioning System,Inertial measurement unit,High-speed camera,Engineering,Aerodynamics,3D reconstruction | Conference | 105 |
ISSN | Citations | PageRank |
1610-7438 | 3 | 0.42 |
References | Authors | |
9 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| In-kyu Sa | 1 | 186 | 18.55 |
| Stefan Hrabar | 2 | 3 | 0.42 |
| Peter I. Corke | 3 | 2495 | 234.29 |