Inspection of pole-like structures using a vision-controlled VTOL UAV and shared autonomy
Sa, Inkyu, Hrabar, Stefan, & Corke, Peter (2014) Inspection of pole-like structures using a vision-controlled VTOL UAV and shared autonomy. In Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), IEEE, Chicago, IL, pp. 4819-4826.
We present an approach for the inspection of vertical pole-like infrastructure using a vertical take-off and landing (VTOL) unmanned aerial vehicle and shared autonomy. Inspecting vertical structures, such as light and power distribution poles, is a time consuming, dangerous and expensive task with high operator workload. To address these issues, we propose a VTOL platform that can operate at close-quarters, whilst maintaining a safe stand-off distance and rejecting environmental disturbances. We adopt an Image based Visual Servoing (IBVS) technique using only two line features to stabilise the vehicle with respect to a pole. Visual, inertial and sonar data are used, making the approach suitable for indoor or GPS-denied environments. Results from simulation and outdoor flight experiments demonstrate the system is able to successfully inspect and circumnavigate a pole.
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|Item Type:||Conference Paper|
|Keywords:||Cameras, Inspection, Jacobian matrices, Robot vision systems, Visualization|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 IEEE|
|Deposited On:||12 Nov 2014 22:45|
|Last Modified:||18 Nov 2014 03:07|
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