A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
On Visual Perception for an Aerial Robotic Worker
Micro Aerial Vehicles and especially multi rotors are gaining more and more attention for accomplishing complex tasks, considering their simple mechanical design and their versatile movement. MAVs are ideal candidates to perform tasks autonomously, to work safely in close proximity and in collaboration with humans, and to operate safely and effectively in natural human environments, like infrastructure inspection-maintenance, underground mine operations and surveillance missions. Adopting this vision, this thesis contributes in the aerial platform ecosystem that can be summarized by the term Aerial Robotic Worker (ARW). An ARW is characterized, among others, by its advanced capabilities on environmental perception and 3D reconstruction and active aerial manipulation.Using cameras for localization, mapping of an ARW as well as guidance on aerial manipulation is appealing mainly because of the small size and cost of such sensors. Nevertheless, visualinformation provided from the cameras is enormous, posing significant challenges in real-time data processing, while meeting the constraints of these platforms. Additionally, another challenge on visual perception considers the usage of multiple agents that collaboratively perceive their surroundings forming an aerial sensor. This thesis also investigates the applicability of visual SLAM algorithms in uncontrolled and cluttered environments. Furthermore, work will be presented on visual guidance for an aerial manipulator, which is challenging regarding the object detection, tracking and the platform approaching strategies. The first contribution will be the establishment of a flexible virtual stereo rig consisted of MPC controlled MAVs. The advantage of this approach is the varying baseline sensor that is composed from independently moving cameras, adjusting the depth perception accordingly. This method is able to provide the 3D reconstruction of the environment in a sparse pointcloud. The second contribution of this this thesis will examine the single agents in two ...
On Visual Perception for an Aerial Robotic Worker
Micro Aerial Vehicles and especially multi rotors are gaining more and more attention for accomplishing complex tasks, considering their simple mechanical design and their versatile movement. MAVs are ideal candidates to perform tasks autonomously, to work safely in close proximity and in collaboration with humans, and to operate safely and effectively in natural human environments, like infrastructure inspection-maintenance, underground mine operations and surveillance missions. Adopting this vision, this thesis contributes in the aerial platform ecosystem that can be summarized by the term Aerial Robotic Worker (ARW). An ARW is characterized, among others, by its advanced capabilities on environmental perception and 3D reconstruction and active aerial manipulation.Using cameras for localization, mapping of an ARW as well as guidance on aerial manipulation is appealing mainly because of the small size and cost of such sensors. Nevertheless, visualinformation provided from the cameras is enormous, posing significant challenges in real-time data processing, while meeting the constraints of these platforms. Additionally, another challenge on visual perception considers the usage of multiple agents that collaboratively perceive their surroundings forming an aerial sensor. This thesis also investigates the applicability of visual SLAM algorithms in uncontrolled and cluttered environments. Furthermore, work will be presented on visual guidance for an aerial manipulator, which is challenging regarding the object detection, tracking and the platform approaching strategies. The first contribution will be the establishment of a flexible virtual stereo rig consisted of MPC controlled MAVs. The advantage of this approach is the varying baseline sensor that is composed from independently moving cameras, adjusting the depth perception accordingly. This method is able to provide the 3D reconstruction of the environment in a sparse pointcloud. The second contribution of this this thesis will examine the single agents in two ...
On Visual Perception for an Aerial Robotic Worker
Kanellakis, Christoforos (author)
2017-01-01
Licentiate thesis / Luleå University of Technology, 1402-1757
Theses
Electronic Resource
English
Prototype Development of a Tactile Sensing System for Improved Worker Safety Perception
| British Library Conference Proceedings | 2019