First-look enabled Autonomous Aerial Visual Inspection of Geometrically Fractured Objects in Constrained Environments

Viswanathan, Vignesh Kottayam; Satpute, Sumeet Gajanan; Lindqvist, Björn; Nikolakopoulos, George

doi:10.1109/isie51582.2022.9831615

Cited by 2 publications

(1 citation statement)

References 10 publications

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“…The novelty of the proposed approach stems from a unified inspect-explore framework based on the First-Look approach (FLIE). The First-Look approach [16] enables the inspecting UAV to quickly adapt its inspection path to the profile of the surface being inspected subject to photogrammetric and collision-avoidance constraints, while the exploration module operates in a tiered fashion to explore the vicinity around the UAV to identify and provide locations of unvisited surfaces lying within the camera field-of-view. This is extremely useful in scenarios where visual inspection of structurally damaged objects is necessary to maximize situational awareness, especially in areas where prior knowledge is not applicable or available after disastrous events.…”

Section: Introductionmentioning

confidence: 99%

FLIE: First-Look Enabled Inspect-Explore Autonomy Toward Visual Inspection of Unknown Distributed and Discontinuous Structures

2023

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Section: Introductionmentioning

confidence: 99%

FLIE: First-Look Enabled Inspect-Explore Autonomy Toward Visual Inspection of Unknown Distributed and Discontinuous Structures

2023

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Towards Visual Inspection of Distributed and Irregular Structures: A Unified Autonomy Approach

Viswanathan,

Lindqvist,

Satpute

et al. 2023

J Intell Robot Syst

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This paper highlights the significance of maintaining and enhancing situational awareness in Urban Search and Rescue (USAR) missions. It focuses specifically on investigating the capabilities of Unmanned Aerial Vehicles (UAV) equipped with limited sensing capabilities and onboard computational resources to perform visual inspections of apriori unknown fractured and collapsed structures in unfamiliar environments. The proposed approach, referred to as First Look Inspect-Explore (FLIE), employs a flexible bifurcated behavior tree that leverages real-time RGB image and depth cloud data. By employing a recursive and reactive synthesis of safe view pose within the inspection module, FLIE incorporates a novel active visual guidance scheme for identifying previously inspected surfaces. Furthermore, the integration of a tiered hierarchical exploration module with the visual guidance system enables the UAV to navigate towards new and unexplored structures without relying on a map. This decoupling reduces memory overhead and computational effort by eliminating the need to plan based on an incrementally built, error-prone global map. The proposed autonomy is extensively evaluated through simulation and experimental verification under various scenarios and compared against state-of-art approaches, demonstrating its performance and effectiveness.

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First-look enabled Autonomous Aerial Visual Inspection of Geometrically Fractured Objects in Constrained Environments

Cited by 2 publications

References 10 publications

FLIE: First-Look Enabled Inspect-Explore Autonomy Toward Visual Inspection of Unknown Distributed and Discontinuous Structures

FLIE: First-Look Enabled Inspect-Explore Autonomy Toward Visual Inspection of Unknown Distributed and Discontinuous Structures

Towards Visual Inspection of Distributed and Irregular Structures: A Unified Autonomy Approach

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