Small-UAS navigation using 3D imager and infrared camera in structured environments
| Autor: | Adam Schultz, Russell Gilabert, Maarten Uijt de Haag, Akshay S. Bharadwaj, Joel Huff |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Feature extraction Wind triangle 02 engineering and technology Simultaneous localization and mapping Maintenance engineering Mobile robot navigation 020901 industrial engineering & automation Inertial measurement unit Dead reckoning 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Artificial intelligence business Air navigation |
| Zdroj: | PLANS |
| DOI: | 10.1109/plans.2016.7479751 |
| Popis: | This paper discusses a positioning and navigation algorithm to support autonomous flight of a small-size unmanned aircraft system in a structured GNSS-denied environment during a maintenance mission. The proposed method is based on the integration of depth imagery and outputs from an inertial measurement unit (IMU). In addition, 2D images of a low resolution long-wave IR (LWIR) sensor are used to aid the navigation process and support the maintenance mission by creating a thermal map of the indoor environment. A platform has been built with the appropriate sensors and data has been collected. The paper describes the methodology, the test platform and some preliminary results from mostly the preprocessing steps. |
| Databáze: | OpenAIRE |
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