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- W1976875201 abstract "We present an approach for the inspection of vertical pole-like infrastructure using a vertical take-off and landing (VTOL) unmanned aerial vehicle and shared autonomy. Inspecting vertical structures, such as light and power distribution poles, is a time consuming, dangerous and expensive task with high operator workload. To address these issues, we propose a VTOL platform that can operate at close-quarters, whilst maintaining a safe stand-off distance and rejecting environmental disturbances. We adopt an Image based Visual Servoing (IBVS) technique using only two line features to stabilise the vehicle with respect to a pole. Visual, inertial and sonar data are used, making the approach suitable for indoor or GPS-denied environments. Results from simulation and outdoor flight experiments demonstrate the system is able to successfully inspect and circumnavigate a pole." @default.
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- W1976875201 date "2014-09-01" @default.
- W1976875201 modified "2023-10-06" @default.
- W1976875201 title "Inspection of pole-like structures using a vision-controlled VTOL UAV and shared autonomy" @default.
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- W1976875201 doi "https://doi.org/10.1109/iros.2014.6943247" @default.
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