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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.


(a) Track line detection; (b) Canny edge detection result and vanishing point detection.
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f4-sensors-15-14887: (a) Track line detection; (b) Canny edge detection result and vanishing point detection.

Mentions: From the edge detectors mentioned in Section 2.1, OpenCV comes with implementations for Canny, Sobel, Laplacian and Scharr algorithms. We will test these methods on a grid of meaningful parameter sets and combine them with a probabilistic Hough transform (PHT) for line extraction and a custom filtering method for line selection. This method removes all of the lines up to a vertical angle, after which it progressively filters out the lines that do not point to an average vanishing point. An example of the processed image and obtained lines and vanishing point is shown in Figure 4.


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

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

(a) Track line detection; (b) Canny edge detection result and vanishing point detection.
© Copyright Policy
Related In: Results  -  Collection

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

f4-sensors-15-14887: (a) Track line detection; (b) Canny edge detection result and vanishing point detection.
Mentions: From the edge detectors mentioned in Section 2.1, OpenCV comes with implementations for Canny, Sobel, Laplacian and Scharr algorithms. We will test these methods on a grid of meaningful parameter sets and combine them with a probabilistic Hough transform (PHT) for line extraction and a custom filtering method for line selection. This method removes all of the lines up to a vertical angle, after which it progressively filters out the lines that do not point to an average vanishing point. An example of the processed image and obtained lines and vanishing point is shown in Figure 4.

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.