Spatio-Temporally Smooth Local Mapping and State Estimation Inside Generalized Cylinders With Micro Aerial Vehicles
| Autor: | Vijay Kumar, Camillo J. Taylor, Giuseppe Loianno, James Keller, Tolga Ozaslan |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science Biomedical Engineering Point cloud Rotational symmetry 02 engineering and technology 01 natural sciences 020901 industrial engineering & automation Artificial Intelligence Inertial measurement unit Robustness (computer science) business.industry Mechanical Engineering 010401 analytical chemistry Robotics Kalman filter 0104 chemical sciences Computer Science Applications Human-Computer Interaction Lidar Control and Systems Engineering Computer Vision and Pattern Recognition Artificial intelligence business Algorithm |
| Zdroj: | IEEE Robotics and Automation Letters. 3:4209-4216 |
| ISSN: | 2377-3774 |
| Popis: | In this letter, we consider state estimation and local mapping with a micro aerial vehicle inside a tunnel that can be modeled as a generalized cylinder, using a three-dimensional lidar and an inertial measurement unit. This axisymmetric environment poses unique challenges in terms of localization and mapping. The point cloud data returned by the sensor consists of indiscriminate partial cylindrical patches complicating data association. The proposed method reconstructs an egocentric local map through an optimization process on a nonlinear manifold, which is then fed into a constrained unscented Kalman filter. The proposed method easily adapts to different diameters, cross sections, and changes in center line curves. The proposed approach outperforms our previous contribution [T. Ozaslan, G. Loianno, J. Keller, C. J. Taylor, V. Kumar, J. M. Wozencraft, and T. Hood, “Autonomous navigation and mapping for inspection of penstocks and tunnels with MAVs,” IEEE Robotics Automation Letter , vol. 2, no. 3, pp. 1740–1747, Jul. 2017] in terms of mapping quality and robustness to noncylindrical cross sections. Our motivation is to automate the labor intensive, dangerous, and the expensive inspection of penstocks with the least operator intervention. We present experimental results obtained in Center Hill Dam, TN, USA, to validate the proposed approach. |
| Databáze: | OpenAIRE |
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