灵活性(工程)
计算机科学
计算机视觉
实时计算
对象(语法)
目标检测
传感器融合
目视检查
人工智能
工程类
模拟
分割
统计
数学
作者
Yurong Feng,Kwai-wa Tse,Shengyang Chen,Chih‐Yung Wen,Boyang Li
出处
期刊:Sensors
[MDPI AG]
日期:2021-02-16
卷期号:21 (4): 1385-1385
被引量:13
摘要
The inspection of electrical and mechanical (E&M) devices using unmanned aerial vehicles (UAVs) has become an increasingly popular choice in the last decade due to their flexibility and mobility. UAVs have the potential to reduce human involvement in visual inspection tasks, which could increase efficiency and reduce risks. This paper presents a UAV system for autonomously performing E&M device inspection. The proposed system relies on learning-based detection for perception, multi-sensor fusion for localization, and path planning for fully autonomous inspection. The perception method utilizes semantic and spatial information generated by a 2-D object detector. The information is then fused with depth measurements for object state estimation. No prior knowledge about the location and category of the target device is needed. The system design is validated by flight experiments using a quadrotor platform. The result shows that the proposed UAV system enables the inspection mission autonomously and ensures a stable and collision-free flight.
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