Aerial service vehicles for industrial inspection: task decomposition and plan execution

Cacace, Jonathan; Finzi, Alberto; Lippiello, Vincenzo; Loianno, Giuseppe; Sanzone, Dario

doi:10.1007/s10489-014-0542-0

Cited by 27 publications

(11 citation statements)

References 18 publications

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“…Using the improved method based on the essential matrix, the calculated results for the camera pose using 21 pairs of matching points are shown in Table 3 after the incorrect results are rejected. The original method [5] was also used for comparative experiment results. We used the same image (Fig.…”

Section: Stereo Calibrationmentioning

confidence: 99%

“…(b) The depth accuracy of the V-binocular omnistereo vision system is isotropic, and there are no occlusions of the image pair due to the coaxial installation. Due to the above advantages, V-binocular omnistereo vision systems have been widely used in many intelligent robot tasks [5][6][7][8][9]. In our research, to obtain a high-performance V-binocular omnistereo vision system, we focused on stereo calibration and rectification.…”

Section: Introductionmentioning

confidence: 99%

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Calibration and rectification of vertically aligned binocular omnistereo vision systems

Cai

Weng

Fan

et al. 2017

J Image Video Proc.

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Omnidirectional stereo vision systems have been widely used as primary vision sensors in intelligent robot 3D measurement tasks, which require stereo calibration and rectification. Current stereo calibration and rectification methods suffer from complex calculations or a lack of accuracy. This paper establishes a simple and effective equivalency between an omnidirectional stereo vision system and a perspective vision system by studying stereo calibration and rectification methods. First, we improved the stereo calibration method. By applying the essential matrix, the complicated calibration process of the original method is simplified. By using a manual extraction method to extract corner points, noise error is eliminated and high precision is ensured. Second, we propose a new rectification method. By using the proposed simple rectification model and calibration data, the baseline length and an accurate column-aligned image pair are easily obtained, which reduces the computation time. The proposed stereo calibration and rectification method can simply and effectively obtain two key parameters of the triangulation formula for 3D measurement tasks: baseline length and parallax. Using real data captured by equipment, we performed experiments covering all the necessary stages to obtain a high-performance omnidirectional stereo vision system. Statistical analyses of the experimental results demonstrate the effectiveness of the proposed method.

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Section: Stereo Calibrationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Calibration and rectification of vertically aligned binocular omnistereo vision systems

Cai

Weng

Fan

et al. 2017

J Image Video Proc.

View full text Add to dashboard Cite

show abstract

“…Given the controller and the waypoints, the Trajectory Planner can then generate and monitor the control trajectory. Since the robot operates in cluttered unknown environments and in proximity of the surfaces, the generated trajectory is to be continuously monitored generating replanning or recovering depending on the time available to react [2] [3].…”

Section: Fig 1: Supervisory System and Mixed Initiative Controlmentioning

confidence: 99%

A mixed-initiative control system for an Aerial Service Vehicle supported by force feedback

Cacace

Finzi

Lippiello

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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We present an approach to mixed initiative control for unmanned aerial vehicles (UAVs) where sliding autonomy is supported by mixed-initiative planning and haptic feedback. In the proposed framework, we assume that an autonomous system can plan and execute robotic tasks while a human operator can provide interventions when necessary receiving a force feedback. The haptic feedback is associated with the sensation about how the system is diverging from the planned operations. We tested the system at work in virtual and real environments considering simple navigation tasks. We compared the performance of human operators with or without the assistance of the force feedback. The collected results support the hypothesis that the proposed approach enables effective and intuitive mixed-initiative control.

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“…For example, it is not easy for humans to explore rugged mountain terrains, flooded areas, or air pollution regions without drones. Consequently, they have been extensively employed in various search applications, such as industrial building inspections [1,2], search and rescue operations [3][4][5], and post-disaster area exploration [6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Swarm Search Method for Real-World Quadcopter Drones

2018

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This paper proposes a novel search method for a swarm of quadcopter drones. In the proposed method, inspired by the phenomena of swarms in nature, drones effectively look for the search target by investigating the evidence from the surroundings and communicating with each other. The position update mechanism is implemented using the particle swarm optimization algorithm as the swarm intelligence (a well-known swarm-based optimization algorithm), as well as a dynamic model for the drones to take the real-world environment into account. In addition, the mechanism is processed in real-time along with the movements of the drones. The effectiveness of the proposed method was verified through repeated test simulations, including a benchmark function optimization and air pollutant search problems. The results show that the proposed method is highly practical, accurate, and robust.

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Aerial service vehicles for industrial inspection: task decomposition and plan execution

Cited by 27 publications

References 18 publications

Calibration and rectification of vertically aligned binocular omnistereo vision systems

Calibration and rectification of vertically aligned binocular omnistereo vision systems

A mixed-initiative control system for an Aerial Service Vehicle supported by force feedback

Real-Time Swarm Search Method for Real-World Quadcopter Drones

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