Knowledge Commons of Institute of Automation,CAS
A Point-line-based SLAM Framework for UAV Close Proximity Transmission Tower Inspection | |
Bian, Jiang1,2; Hui, Xiaolong1,2; Zhao, Xiaoguang1; Tan, Min1 | |
2018-12 | |
会议名称 | IEEE International Conference on Robotics and Biomimetics |
会议日期 | 2018年12月12日 |
会议地点 | 马来西亚吉隆坡 |
摘要 | Employing unmanned aerial vehicles (UAV) to conduct close proximity inspection of transmission tower is becoming increasingly common. This paper aims to solve the key problem of close proximity navigation – estimating the UAV positions. To this end, we propose a novel monocular-vision-based environmental perception approach and implement it in a hierarchical embedded UAV system. The proposed framework is an improved point-line-based SLAM framework consisting of feature matching, frame tracking, local mapping, loop closure, and nonlinear optimization. In order to enhance frame association, the prominent line feature of tower is heuristically extracted and matched followed by the intersections of lines are processed as point feature. Then the bundle adjustment optimization leverages the intersections of lines and the point-to-line distance to improve the accuracy of UAV localization. Additionally, two reasonable paths are planned for the refined inspection. In experiments, the whole UAV system developed on Robot Operating System (ROS) network is evaluated along the paths in a real-world inspection environment, which achieves a satisfactory result. |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/39028 |
专题 | 多模态人工智能系统全国重点实验室_机器人理论与应用 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Bian, Jiang,Hui, Xiaolong,Zhao, Xiaoguang,et al. A Point-line-based SLAM Framework for UAV Close Proximity Transmission Tower Inspection[C],2018. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Point-line-based S(3307KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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