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.

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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.

Impact and interest:

7 citations in Scopus
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6 citations in Web of Science®

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ID Code: 78625
Item Type: Conference Paper
Refereed: Yes
Keywords: Cameras, Inspection, Jacobian matrices, Robot vision systems, Visualization
DOI: 10.1109/IROS.2014.6943247
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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