Conference paper
Towards UAV-Based Absolute Hierarchical Localization in Confined Spaces*
To perform safe, autonomous, visual inspections of maritime vessels, accurate and lightweight localization of UAVs in dark and confined areas is required. Such visual inspections are performed by expert surveyors, periodically, and aim at the classification of the vessel by identifying defect locations within the frames of the ship.
The paper at hand presents our initial efforts in absolute localization as a solution to the aforementioned problems using a UAV. Employing a combination of Visual Inertial Odmetry and detection of existing known structural 3D landmarks, an absolute and hierarchical localization system is created. With this approach there is no need for detailed maps of the environment, but only high level information -i.e. few landmark points- from the structural drawings of the ship.
The system is tested within a mock-up model of a topside water ballast tank and its localization is compared to a groundtruth, which is estimated based on ArUco markers mounted on the walls inside the model. Our initial results indicate that using geometric landmarks, extracted from vessel designs, greatly benefit the UAV localization accuracy as well as the localization of defects with regards to the vessel body frame.
Language: | English |
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Publisher: | IEEE |
Year: | 2020 |
Pages: | 182-188 |
Proceedings: | 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics |
ISBN: | 1665403896 , 166540390X , 9781665403894 , 9781665403900 , 0738111236 and 9780738111230 |
ISSN: | 23743247 and 24758426 |
Types: | Conference paper |
DOI: | 10.1109/SSRR50563.2020.9292616 |
ORCIDs: | Brogaard, Rune Yding , Ravn, Ole and Boukas, Evangelos |
Cameras Electronic ballasts Inspection Kalman filters Marine vehicles SLAM (robots) Three-dimensional displays UAV localization accuracy Unmanned aerial vehicles Visualization absolute localization system accurate localization aerospace robotics autonomous aerial vehicles autonomous inspections confined spaces dark confined areas defect locations distance measurement expert surveyors geometric landmarks hand presents our initial efforts hierarchical localization system high level information -i.e image sequences inspection landmark points lightweight localization maritime vessels microrobots mobile robots multi-robot systems pose estimation remotely operated vehicles robot vision safe inspections ship ships structural 3D landmarks structural drawings tanks (containers) topside water ballast tank towards UAV-based absolute hierarchical localization vessel body frame vessel designs visual inspections