3D Navigation by UAV using a mono-camera, for precise target tracking for contact inspection of critical infrastructures

Tobias Skov, Laura Bonde Holst, Matteo Fumagalli

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

This paper proposes a novel approach for autonomous 3D tracking of targets and position control of a UAV, using a monocular camera to aim at positioning an end-effector probe on a vertical concrete surface. The proposed solution is based on features detection on a concrete surface, and aims to control the drone to a user defined target that is chosen via a user interface. To ensure 3D perception of the selected target, the approach is combined with a camera-based distance estimator, that uses laser pointers mounted on the drone. Experimental results show that the system is able to navigate towards the user-defined target and establish contact with it with a limited a margin of error.
Original languageEnglish
Title of host publicationProceedings of 2021 Aerial Robotic Systems Physically Interacting with the Environment
Number of pages8
PublisherIEEE
Publication date2021
ISBN (Print)978-1-6654-3390-7
DOIs
Publication statusPublished - 2021
Event2021 Aerial Robotic Systems Physically Interacting with the Environment
- Ilirija Resort, Biograd na Moru, Croatia
Duration: 4 Oct 20215 Oct 2021

Conference

Conference2021 Aerial Robotic Systems Physically Interacting with the Environment
LocationIlirija Resort
Country/TerritoryCroatia
CityBiograd na Moru
Period04/10/202105/10/2021

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