Matches in SemOpenAlex for { <https://semopenalex.org/work/W2561251170> ?p ?o ?g. }
Showing items 1 to 98 of
98
with 100 items per page.
- W2561251170 abstract "In the last decade, multi-rotor Micro Aerial Vehicles (MAVs) have attracted great attention from robotics researchers. Offering affordable agility and maneuverability, multi-rotor aircrafts have become the most commonly used platforms for robotics applications. Amongst the most promising applications are inspection of power-lines, cell-towers, large and constrained infrastructures and precision agriculture. While GPS offers an easy solution for outdoor autonomy, using on-board sensors is the only solution for autonomy in constrained indoor environments. In this paper, we present our results on autonomous inspection of completely dark, featureless, symmetric dam penstocks using cameras and range sensors. We use a hex-rotor platform equipped with an IMU, four cameras and two lidars. One of the cameras tracks features on the walls using the on-board illumination to estimate the position along the tunnel axis unobservable to range sensors while all of the cameras are used for panoramic image construction. The two lidars estimate the remaining degrees of freedom (DOF). Outputs of the two estimators are fused using an Unscented Kalman Filter (UKF). A moderately trained operator defines waypoints using the Remote Control (RC). We demonstrate our results from Carters Dam, GA and Glen Canyon Dam, AZ which include panoramic images for cracks and rusty spot detection and 6-DOF estimation results with ground truth comparisons. To our knowledge ours is the only study that can autonomously inspect environments with no geometric cues and poor to no external illumination using MAVs." @default.
- W2561251170 created "2017-01-06" @default.
- W2561251170 creator A5030457220 @default.
- W2561251170 creator A5031530435 @default.
- W2561251170 creator A5036660535 @default.
- W2561251170 creator A5061809872 @default.
- W2561251170 creator A5072818146 @default.
- W2561251170 creator A5073134002 @default.
- W2561251170 creator A5087021192 @default.
- W2561251170 creator A5087249519 @default.
- W2561251170 date "2016-10-01" @default.
- W2561251170 modified "2023-09-29" @default.
- W2561251170 title "Towards fully autonomous visual inspection of dark featureless dam penstocks using MAVs" @default.
- W2561251170 cites W1659349535 @default.
- W2561251170 cites W1970504153 @default.
- W2561251170 cites W1999210160 @default.
- W2561251170 cites W2019949051 @default.
- W2561251170 cites W2069647917 @default.
- W2561251170 cites W2101383732 @default.
- W2561251170 cites W2102693043 @default.
- W2561251170 cites W2112510830 @default.
- W2561251170 cites W2119851068 @default.
- W2561251170 cites W2130763585 @default.
- W2561251170 cites W2140881794 @default.
- W2561251170 cites W2399880942 @default.
- W2561251170 cites W2899725245 @default.
- W2561251170 doi "https://doi.org/10.1109/iros.2016.7759734" @default.
- W2561251170 hasPublicationYear "2016" @default.
- W2561251170 type Work @default.
- W2561251170 sameAs 2561251170 @default.
- W2561251170 citedByCount "14" @default.
- W2561251170 countsByYear W25612511702017 @default.
- W2561251170 countsByYear W25612511702018 @default.
- W2561251170 countsByYear W25612511702019 @default.
- W2561251170 countsByYear W25612511702020 @default.
- W2561251170 countsByYear W25612511702021 @default.
- W2561251170 countsByYear W25612511702022 @default.
- W2561251170 countsByYear W25612511702023 @default.
- W2561251170 crossrefType "proceedings-article" @default.
- W2561251170 hasAuthorship W2561251170A5030457220 @default.
- W2561251170 hasAuthorship W2561251170A5031530435 @default.
- W2561251170 hasAuthorship W2561251170A5036660535 @default.
- W2561251170 hasAuthorship W2561251170A5061809872 @default.
- W2561251170 hasAuthorship W2561251170A5072818146 @default.
- W2561251170 hasAuthorship W2561251170A5073134002 @default.
- W2561251170 hasAuthorship W2561251170A5087021192 @default.
- W2561251170 hasAuthorship W2561251170A5087249519 @default.
- W2561251170 hasConcept C111472728 @default.
- W2561251170 hasConcept C127413603 @default.
- W2561251170 hasConcept C138885662 @default.
- W2561251170 hasConcept C154945302 @default.
- W2561251170 hasConcept C157286648 @default.
- W2561251170 hasConcept C17281054 @default.
- W2561251170 hasConcept C205649164 @default.
- W2561251170 hasConcept C2778361833 @default.
- W2561251170 hasConcept C2780695315 @default.
- W2561251170 hasConcept C31972630 @default.
- W2561251170 hasConcept C34413123 @default.
- W2561251170 hasConcept C41008148 @default.
- W2561251170 hasConcept C52102323 @default.
- W2561251170 hasConcept C58640448 @default.
- W2561251170 hasConcept C78519656 @default.
- W2561251170 hasConcept C79061980 @default.
- W2561251170 hasConcept C90509273 @default.
- W2561251170 hasConceptScore W2561251170C111472728 @default.
- W2561251170 hasConceptScore W2561251170C127413603 @default.
- W2561251170 hasConceptScore W2561251170C138885662 @default.
- W2561251170 hasConceptScore W2561251170C154945302 @default.
- W2561251170 hasConceptScore W2561251170C157286648 @default.
- W2561251170 hasConceptScore W2561251170C17281054 @default.
- W2561251170 hasConceptScore W2561251170C205649164 @default.
- W2561251170 hasConceptScore W2561251170C2778361833 @default.
- W2561251170 hasConceptScore W2561251170C2780695315 @default.
- W2561251170 hasConceptScore W2561251170C31972630 @default.
- W2561251170 hasConceptScore W2561251170C34413123 @default.
- W2561251170 hasConceptScore W2561251170C41008148 @default.
- W2561251170 hasConceptScore W2561251170C52102323 @default.
- W2561251170 hasConceptScore W2561251170C58640448 @default.
- W2561251170 hasConceptScore W2561251170C78519656 @default.
- W2561251170 hasConceptScore W2561251170C79061980 @default.
- W2561251170 hasConceptScore W2561251170C90509273 @default.
- W2561251170 hasLocation W25612511701 @default.
- W2561251170 hasOpenAccess W2561251170 @default.
- W2561251170 hasPrimaryLocation W25612511701 @default.
- W2561251170 hasRelatedWork W1968716783 @default.
- W2561251170 hasRelatedWork W2333544554 @default.
- W2561251170 hasRelatedWork W2736638679 @default.
- W2561251170 hasRelatedWork W3003695190 @default.
- W2561251170 hasRelatedWork W3089173771 @default.
- W2561251170 hasRelatedWork W3108980762 @default.
- W2561251170 hasRelatedWork W4306804934 @default.
- W2561251170 hasRelatedWork W4313046826 @default.
- W2561251170 hasRelatedWork W54333131 @default.
- W2561251170 hasRelatedWork W2138795192 @default.
- W2561251170 isParatext "false" @default.
- W2561251170 isRetracted "false" @default.
- W2561251170 magId "2561251170" @default.
- W2561251170 workType "article" @default.