• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mathematical Problems in Engineering >Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones
【24h】

Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones

机译：自主多旋翼无人机对管道和立柱的检测和定位

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

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 to find the contours of the pipe, combined with conic estimation cylinder pose recovery. Multiple solutions have been studied and analyzed, evaluating their results. This allowed proposing an approach that combines both LiDAR and vision to produce robust and accurate pipe detection. This combined solution is validated with real experimental data.
机译：已经研究了一种多模态传感器阵列，用于相对于管道准确地定位空中多旋翼无人机，并且已经提出了一种利用LiDAR和视觉传感器的解决方案。已经研究了一些挑战，包括检测传感器空间中的管道和其他圆柱形元素以及如何验证检测到的元素。概率参数方法已被应用到使用LIDAR分割和定位圆柱体的过程中，同时已经测试了几种基于视觉的技术来查找管道的轮廓，并结合了圆锥估计圆柱体的姿态恢复。已经研究和分析了多种解决方案，评估了其结果。这允许提出一种将LiDAR和视觉结合起来以产生可靠而精确的管道检测的方法。该组合解决方案已通过实际实验数据验证。

著录项

  • 来源
    《Mathematical Problems in Engineering》 |2018年第7期|2758021.1-2758021.13|共13页
  • 作者

    Guerra Edmundo; Munguia Rodrigo; Bolea Yolanda; Grau Antoni;

  • 作者单位

    Tech Univ Catalonia UPC, Dept Automat Control, Barcelona 08034, Spain;

    Univ Guadalajara, CUCEI, Dept Comp Sci, Guadalajara 44430, Jalisco, Mexico;

    Tech Univ Catalonia UPC, Dept Automat Control, Barcelona 08034, Spain;

    Tech Univ Catalonia UPC, Dept Automat Control, Barcelona 08034, Spain;

  • 收录信息
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号