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Vision-Based Aircraft Pose Estimation for UAVs Autonomous Inspection without Fiducial Markers
CAZZATO, Dario; OLIVARES MENDEZ, Miguel Angel; SANCHEZ LOPEZ, Jose Luis et al.
2019In IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society
Peer reviewed
 

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Abstract :
[en] The reliability of aircraft inspection is of paramountimportance to safety of flights. Continuing airworthiness of air-craft structures is largely based upon the visual detection of smalldefects made by trained inspection personnel with expensive,critical and time consuming tasks. At this aim, Unmanned AerialVehicles (UAVs) can be used for autonomous inspections, aslong as it is possible to localize the target while flying aroundit and correct the position. This work proposes a solution todetect the airplane pose with regards to the UAVs position whileflying autonomously around the airframe at close range forvisual inspection tasks. The system works by processing imagescoming from an RGB camera mounted on board, comparingincoming frames with a database of natural landmarks whoseposition on the airframe surface is known. The solution has beentested in real UAV flight scenarios, showing its effectiveness inlocalizing the pose with high precision. The advantages of theproposed methods are of industrial interest since we remove manyconstraint that are present in the state of the art solutions.
Disciplines :
Computer science
Author, co-author :
CAZZATO, Dario ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
OLIVARES MENDEZ, Miguel Angel ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
SANCHEZ LOPEZ, Jose Luis  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
VOOS, Holger  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Engineering Research Unit
External co-authors :
no
Language :
English
Title :
Vision-Based Aircraft Pose Estimation for UAVs Autonomous Inspection without Fiducial Markers
Publication date :
October 2019
Event name :
45th Annual Conference of the IEEE Industrial Electronics Society
Event organizer :
IEEE
Event date :
from 14-10-2019 to 17-10-2019
Main work title :
IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society
Pages :
5642--5648
Peer reviewed :
Peer reviewed
Available on ORBilu :
since 15 January 2020

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