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

doi:10.1109/AIRPHARO52252.2021.9571043

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

Technical University of Denmark

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-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 language	English
Title of host publication	Proceedings of 2021 Aerial Robotic Systems Physically Interacting with the Environment
Number of pages	8
Publisher	IEEE
Publication date	2021
ISBN (Print)	978-1-6654-3390-7
DOIs	https://doi.org/10.1109/AIRPHARO52252.2021.9571043
Publication status	Published - 2021
Event	1st Aerial Robotic Systems Physically Interacting with the Environment - Ilirija Resort, Biograd na Moru, Croatia Duration: 4 Oct 2021 → 5 Oct 2021 Conference number: 1 https://ieeexplore.ieee.org/xpl/conhome/9571021/proceeding

Conference

Conference	1st Aerial Robotic Systems Physically Interacting with the Environment
Number	1
Location	Ilirija Resort
Country/Territory	Croatia
City	Biograd na Moru
Period	04/10/2021 → 05/10/2021
Internet address	https://ieeexplore.ieee.org/xpl/conhome/9571021/proceeding

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10.1109/AIRPHARO52252.2021.9571043

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@inproceedings{80ed24257cf74a00a0617768df09a41b,

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

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.",

author = "Tobias Skov and Holst, {Laura Bonde} and Matteo Fumagalli",

year = "2021",

doi = "10.1109/AIRPHARO52252.2021.9571043",

language = "English",

isbn = "978-1-6654-3390-7",

booktitle = "Proceedings of 2021 Aerial Robotic Systems Physically Interacting with the Environment",

publisher = "IEEE",

address = "United States",

note = "1st Aerial Robotic Systems Physically Interacting with the Environment<br/>, AIRPHARO 2021 ; Conference date: 04-10-2021 Through 05-10-2021",

url = "https://ieeexplore.ieee.org/xpl/conhome/9571021/proceeding",

}

Skov, T, Holst, LB & Fumagalli, M 2021, 3D Navigation by UAV using a mono-camera, for precise target tracking for contact inspection of critical infrastructures. in Proceedings of 2021 Aerial Robotic Systems Physically Interacting with the Environment. IEEE, 1st Aerial Robotic Systems Physically Interacting with the Environment
, Biograd na Moru, Croatia, 04/10/2021. https://doi.org/10.1109/AIRPHARO52252.2021.9571043

3D Navigation by UAV using a mono-camera, for precise target tracking for contact inspection of critical infrastructures. / Skov, Tobias; Holst, Laura Bonde; Fumagalli, Matteo.

Proceedings of 2021 Aerial Robotic Systems Physically Interacting with the Environment. IEEE, 2021.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - 3D Navigation by UAV using a mono-camera, for precise target tracking for contact inspection of critical infrastructures

AU - Skov, Tobias

AU - Holst, Laura Bonde

AU - Fumagalli, Matteo

N1 - Conference code: 1

PY - 2021

Y1 - 2021

N2 - 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.

AB - 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.

U2 - 10.1109/AIRPHARO52252.2021.9571043

DO - 10.1109/AIRPHARO52252.2021.9571043

M3 - Article in proceedings

SN - 978-1-6654-3390-7

BT - Proceedings of 2021 Aerial Robotic Systems Physically Interacting with the Environment

PB - IEEE

T2 - 1st Aerial Robotic Systems Physically Interacting with the Environment<br/>

Y2 - 4 October 2021 through 5 October 2021

ER -

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

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