Conference paper
3D Navigation by UAV using a mono-camera, for precise target tracking for contact inspection of critical infrastructures
This paper proposes a novel approach for autonomous 3D tracking of targets and position control of a UAV, using a monocular camera to aim at positioning an end-effector probe on a vertical concrete surface. The proposed solution is based on features detection on a concrete surface, and aims to control the drone to a user defined target that is chosen via a user interface.
To ensure 3D perception of the selected target, the approach is combined with a camera-based distance estimator, that uses laser pointers mounted on the drone. Experimental results show that the system is able to navigate towards the user-defined target and establish contact with it with a limited a margin of error.
Language: | English |
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Publisher: | IEEE |
Year: | 2021 |
Pages: | 1-8 |
Proceedings: | 1st Aerial Robotic Systems Physically Interacting with the Environment<br/> |
ISBN: | 1665433892 , 9781665433891 , 1665433906 and 9781665433907 |
Types: | Conference paper |
DOI: | 10.1109/AIRPHARO52252.2021.9571043 |
ORCIDs: | Fumagalli, Matteo |