Vision-based plane estimation and following for building inspection with autonomous UAV
In this article, we focus on enabling the autonomous perception and control of a small unmanned aerial vehicle (UAV) for a façade inspection task. Specifically, we consider the perception as a planar object pose estimation problem by simplifying the building structure as a concatenation of plane...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/182129 |
| _version_ | 1826116327666876416 |
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| author | Lyu, Yang Cao, Muqing Yuan, Shenghai Xie, Lihua |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Lyu, Yang Cao, Muqing Yuan, Shenghai Xie, Lihua |
| author_sort | Lyu, Yang |
| collection | NTU |
| description | In this article, we focus on enabling the autonomous
perception and control of a small unmanned aerial vehicle (UAV)
for a façade inspection task. Specifically, we consider the perception
as a planar object pose estimation problem by simplifying
the building structure as a concatenation of planes, and the control
as an optimal reference tracking control problem. First, a
vision-based adaptive observer is proposed for plane pose estimation
which converges fast and is insensitive to noise under
very mild observation conditions. Second, a model predictive controller
(MPC) is designed to achieve stable plane following and
smooth transition in a multiple-plane scenario, while the persistent
excitation (PE) condition of the observer and the maneuver
constraints of the UAV are satisfied. The stability of the observer
and the MPC controller is also investigated to ensure theoretical
completeness. The proposed autonomous plane pose estimation
and plane tracking methods are tested in both simulation and
practical building façade inspection scenarios, which demonstrate
their effectiveness and practicability. |
| first_indexed | 2025-03-09T11:37:20Z |
| format | Journal Article |
| id | ntu-10356/182129 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-03-09T11:37:20Z |
| publishDate | 2025 |
| record_format | dspace |
| spelling | ntu-10356/1821292025-02-14T15:45:34Z Vision-based plane estimation and following for building inspection with autonomous UAV Lyu, Yang Cao, Muqing Yuan, Shenghai Xie, Lihua School of Electrical and Electronic Engineering Computer and Information Science Building façade inspection Model predictive control Nonlinear observer Stability analysis In this article, we focus on enabling the autonomous perception and control of a small unmanned aerial vehicle (UAV) for a façade inspection task. Specifically, we consider the perception as a planar object pose estimation problem by simplifying the building structure as a concatenation of planes, and the control as an optimal reference tracking control problem. First, a vision-based adaptive observer is proposed for plane pose estimation which converges fast and is insensitive to noise under very mild observation conditions. Second, a model predictive controller (MPC) is designed to achieve stable plane following and smooth transition in a multiple-plane scenario, while the persistent excitation (PE) condition of the observer and the maneuver constraints of the UAV are satisfied. The stability of the observer and the MPC controller is also investigated to ensure theoretical completeness. The proposed autonomous plane pose estimation and plane tracking methods are tested in both simulation and practical building façade inspection scenarios, which demonstrate their effectiveness and practicability. National Research Foundation (NRF) Submitted/Accepted version This work was supported in part by the National Research Foundation (NRF), Singapore, ST Engineering-NTU Corporate Laboratory under its NRF Corporate Lab@ University Scheme and in part by the National Natural Science Foundation of China under Grant 62203358, Grant 61790552, and Grant 62233014. 2025-01-09T06:37:35Z 2025-01-09T06:37:35Z 2023 Journal Article Lyu, Y., Cao, M., Yuan, S. & Xie, L. (2023). Vision-based plane estimation and following for building inspection with autonomous UAV. IEEE Transactions On Systems, Man, and Cybernetics: Systems, 53(12), 7475-7488. https://dx.doi.org/10.1109/TSMC.2023.3299237 2168-2216 https://hdl.handle.net/10356/182129 10.1109/TSMC.2023.3299237 12 53 7475 7488 en IEEE Transactions on Systems, Man, and Cybernetics: Systems © 2023 IEEE. All rights reserved. This article may be downloaded for personal use only. Any other use requires prior permission of the copyright holder. The Version of Record is available online at http://doi.org/10.1109/TSMC.2023.3299237. application/pdf |
| spellingShingle | Computer and Information Science Building façade inspection Model predictive control Nonlinear observer Stability analysis Lyu, Yang Cao, Muqing Yuan, Shenghai Xie, Lihua Vision-based plane estimation and following for building inspection with autonomous UAV |
| title | Vision-based plane estimation and following for building inspection with autonomous UAV |
| title_full | Vision-based plane estimation and following for building inspection with autonomous UAV |
| title_fullStr | Vision-based plane estimation and following for building inspection with autonomous UAV |
| title_full_unstemmed | Vision-based plane estimation and following for building inspection with autonomous UAV |
| title_short | Vision-based plane estimation and following for building inspection with autonomous UAV |
| title_sort | vision based plane estimation and following for building inspection with autonomous uav |
| topic | Computer and Information Science Building façade inspection Model predictive control Nonlinear observer Stability analysis |
| url | https://hdl.handle.net/10356/182129 |
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