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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.


Target detection. Matching result with the reference and scene image.
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f3-sensors-15-14887: Target detection. Matching result with the reference and scene image.

Mentions: As the data source, we consider a 46×188 px reference image and 50 scene images, all 640×360 px in size and rectified. The reference image was taken with the same camera as the scene images. Each scene image contains the target object at different distances. Figure 3 shows a sample matching result.


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

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

Target detection. Matching result with the reference and scene image.
© Copyright Policy
Related In: Results  -  Collection

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

f3-sensors-15-14887: Target detection. Matching result with the reference and scene image.
Mentions: As the data source, we consider a 46×188 px reference image and 50 scene images, all 640×360 px in size and rectified. The reference image was taken with the same camera as the scene images. Each scene image contains the target object at different distances. Figure 3 shows a sample matching result.

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.