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Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones
Joint Authors
Munguía, Rodrigo
Guerra, Edmundo
Grau, Antoni
Bolea, Yolanda
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-06-21
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
A multimodal sensory array to accurately position aerial multicopter drones with respect to pipes has been studied, and a solution exploiting both LiDAR and vision sensors has been proposed.
Several challenges, including detection of pipes and other cylindrical elements in sensor space and validation of the elements detected, have been studied.
A probabilistic parametric method has been applied to segment and position cylinders with LIDAR, while several vision-based techniques have been tested to find the contours of the pipe, combined with conic estimation cylinder pose recovery.
Multiple solutions have been studied and analyzed, evaluating their results.
This allowed proposing an approach that combines both LiDAR and vision to produce robust and accurate pipe detection.
This combined solution is validated with real experimental data.
American Psychological Association (APA)
Guerra, Edmundo& Munguía, Rodrigo& Bolea, Yolanda& Grau, Antoni. 2018. Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1206442
Modern Language Association (MLA)
Guerra, Edmundo…[et al.]. Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones. Mathematical Problems in Engineering No. 2018 (2018), pp.1-13.
https://search.emarefa.net/detail/BIM-1206442
American Medical Association (AMA)
Guerra, Edmundo& Munguía, Rodrigo& Bolea, Yolanda& Grau, Antoni. Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1206442
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1206442