UAV Visual and Laser Sensors Fusion for Detection and Positioning in Industrial Applications
This 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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-06-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/18/7/2071 |
| _version_ | 1828358934964994048 |
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| author | Edmundo Guerra Rodrigo Munguía Antoni Grau |
| author_facet | Edmundo Guerra Rodrigo Munguía Antoni Grau |
| author_sort | Edmundo Guerra |
| collection | DOAJ |
| description | This 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. |
| first_indexed | 2024-04-14T03:35:27Z |
| format | Article |
| id | doaj.art-2c60ca3ab6b44d5581e26c8637e073d8 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T03:35:27Z |
| publishDate | 2018-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-2c60ca3ab6b44d5581e26c8637e073d82022-12-22T02:14:47ZengMDPI AGSensors1424-82202018-06-01187207110.3390/s18072071s18072071UAV Visual and Laser Sensors Fusion for Detection and Positioning in Industrial ApplicationsEdmundo Guerra0Rodrigo Munguía1Antoni Grau2Department of Automatic Control, Technical University of Catalonia UPC, 08034 Barcelona, SpainDepartment of Computer Science, CUCEI, University of Guadalajara, Guadalajara 44430, MexicoDepartment of Automatic Control, Technical University of Catalonia UPC, 08034 Barcelona, SpainThis 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.http://www.mdpi.com/1424-8220/18/7/2071Unmanned Autonomous Vehiclepose determinationLiDAR registrationapparent contour |
| spellingShingle | Edmundo Guerra Rodrigo Munguía Antoni Grau UAV Visual and Laser Sensors Fusion for Detection and Positioning in Industrial Applications Sensors Unmanned Autonomous Vehicle pose determination LiDAR registration apparent contour |
| title | UAV Visual and Laser Sensors Fusion for Detection and Positioning in Industrial Applications |
| title_full | UAV Visual and Laser Sensors Fusion for Detection and Positioning in Industrial Applications |
| title_fullStr | UAV Visual and Laser Sensors Fusion for Detection and Positioning in Industrial Applications |
| title_full_unstemmed | UAV Visual and Laser Sensors Fusion for Detection and Positioning in Industrial Applications |
| title_short | UAV Visual and Laser Sensors Fusion for Detection and Positioning in Industrial Applications |
| title_sort | uav visual and laser sensors fusion for detection and positioning in industrial applications |
| topic | Unmanned Autonomous Vehicle pose determination LiDAR registration apparent contour |
| url | http://www.mdpi.com/1424-8220/18/7/2071 |
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