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Detection and positioning of pipes and columns with autonomous multicopter drones

Author
Guerra, E.; Munguia, R.F.; Bolea, Y.; Grau, A.
Type of activity
Journal article
Journal
Mathematical problems in engineering
Date of publication
2018-06-21
Volume
2018
First page
1
Last page
13
DOI
https://doi.org/10.1155/2018/2758021 Open in new window
Project funding
Aerial robotic system integrating multiple arms and advanced manipulation capabilities for inspection and maintenance
Repository
http://hdl.handle.net/2117/119142 Open in new window
URL
https://www.hindawi.com/journals/mpe/2018/2758021/ Open in new window
Abstract
A multimodal sensory array to accurately position aerial multicopter drones with respect to pipes has been studied, and a solution exploiting both LiDAR and vision sensors has been proposed. Several challenges, including detection of pipes and other cylindrical elements in sensor space and validation of the elements detected, have been studied. A probabilistic parametric method has been applied to segment and position cylinders with LIDAR, while several vision-based techniques have been tested t...
Citation
Guerra, E., Munguia, R.F., Bolea, Y., Grau, A. Detection and positioning of pipes and columns with autonomous multicopter drones. "Mathematical problems in engineering", 21 Juny 2018, vol. 2018, p. 1-13.
Keywords
Pipe detection, UAV, aerial vehicles
Group of research
VIS - Artificial Vision and Intelligent Systems

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