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3 MULTILAYERBASED COVERAGE PATH PLANNING ALGORITHM METHOD OF UNMANNED AERIAL VEHICLE FOR THREE DIMENSIONAL STRUCTURAL INSPECTION AND THE SYSTEM THEREOF
3 MULTILAYERBASED COVERAGE PATH PLANNING ALGORITHM METHOD OF UNMANNED AERIAL VEHICLE FOR THREE DIMENSIONAL STRUCTURAL INSPECTION AND THE SYSTEM THEREOF
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机译:3三维结构检查无人飞行器的多层覆盖路径规划算法及其系统
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摘要
The present invention relates to a multi-layer based coverage path planning method and system thereof for diagnosing a three-dimensional structure, comprising the steps of photographing an image of a structure while moving the drone unit flying toward the structure, the image of the structure Voxelizing the information and dividing the information into any number of layers having a predetermined height, and updating the viewpoints of the layer paths overlapped in adjacent layers due to the initial viewpoints of each of the divided multiple layers. Calculating a coverage path of the drone unit.
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