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Vision and Control for UAVs: A Survey of General Methods and of Inexpensive Platforms for Infrastructure Inspection.

Máthé K, Buşoniu L - Sensors (Basel) (2015)

Bottom Line: Unmanned aerial vehicles (UAVs) have gained significant attention in recent years.We discuss applications, restricting our focus to the field of infrastructure inspection.To select vision methods, we run a thorough set of experimental evaluations.

View Article: PubMed Central - PubMed

Affiliation: Automation Department, Technical University of Cluj-Napoca, Memorandumului Street no. 28, 400114 Cluj-Napoca, Romania. koppany.mathe@aut.utcluj.ro.

ABSTRACT
Unmanned aerial vehicles (UAVs) have gained significant attention in recent years. Low-cost platforms using inexpensive sensor payloads have been shown to provide satisfactory flight and navigation capabilities. In this report, we survey vision and control methods that can be applied to low-cost UAVs, and we list some popular inexpensive platforms and application fields where they are useful. We also highlight the sensor suites used where this information is available. We overview, among others, feature detection and tracking, optical flow and visual servoing, low-level stabilization and high-level planning methods. We then list popular low-cost UAVs, selecting mainly quadrotors. We discuss applications, restricting our focus to the field of infrastructure inspection. Finally, as an example, we formulate two use-cases for railway inspection, a less explored application field, and illustrate the usage of the vision and control techniques reviewed by selecting appropriate ones to tackle these use-cases. To select vision methods, we run a thorough set of experimental evaluations.

No MeSH data available.


Quadrotor model.
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f1-sensors-15-14887: Quadrotor model.

Mentions: A basic scheme of a quadrotor is shown in Figure 1, where ℰ denotes the Earth frame, also called the inertial frame; ℬ denotes the body frame, attached to the center of mass of the quadrotor; x, y and z mark the coordinates of the center of mass of the quadrotor, in the Earth frame ℰ; φ, θ and Ψ correspond to the conventional roll, pitch and yaw angles; and ωi marks the angular velocity of each rotor separately.


Vision and Control for UAVs: A Survey of General Methods and of Inexpensive Platforms for Infrastructure Inspection.

Máthé K, Buşoniu L - Sensors (Basel) (2015)

Quadrotor model.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4541813&req=5

f1-sensors-15-14887: Quadrotor model.
Mentions: A basic scheme of a quadrotor is shown in Figure 1, where ℰ denotes the Earth frame, also called the inertial frame; ℬ denotes the body frame, attached to the center of mass of the quadrotor; x, y and z mark the coordinates of the center of mass of the quadrotor, in the Earth frame ℰ; φ, θ and Ψ correspond to the conventional roll, pitch and yaw angles; and ωi marks the angular velocity of each rotor separately.

Bottom Line: Unmanned aerial vehicles (UAVs) have gained significant attention in recent years.We discuss applications, restricting our focus to the field of infrastructure inspection.To select vision methods, we run a thorough set of experimental evaluations.

View Article: PubMed Central - PubMed

Affiliation: Automation Department, Technical University of Cluj-Napoca, Memorandumului Street no. 28, 400114 Cluj-Napoca, Romania. koppany.mathe@aut.utcluj.ro.

ABSTRACT
Unmanned aerial vehicles (UAVs) have gained significant attention in recent years. Low-cost platforms using inexpensive sensor payloads have been shown to provide satisfactory flight and navigation capabilities. In this report, we survey vision and control methods that can be applied to low-cost UAVs, and we list some popular inexpensive platforms and application fields where they are useful. We also highlight the sensor suites used where this information is available. We overview, among others, feature detection and tracking, optical flow and visual servoing, low-level stabilization and high-level planning methods. We then list popular low-cost UAVs, selecting mainly quadrotors. We discuss applications, restricting our focus to the field of infrastructure inspection. Finally, as an example, we formulate two use-cases for railway inspection, a less explored application field, and illustrate the usage of the vision and control techniques reviewed by selecting appropriate ones to tackle these use-cases. To select vision methods, we run a thorough set of experimental evaluations.

No MeSH data available.