Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00341820" target="_blank" >RIV/68407700:21230/20:00341820 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/LRA.2020.2969935" target="_blank" >https://doi.org/10.1109/LRA.2020.2969935</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2020.2969935" target="_blank" >10.1109/LRA.2020.2969935</a>

Result language

angličtina

Original language name

Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments

Original language description

This letter presents a self-contained system for robust deployment of autonomous aerial vehicles in environments without access to global navigation systems and with limited lighting conditions. The proposed system, application-tailored for documentation in dark areas of large historical monuments, uses a unique and reliable aerial platform with a multi-modal lightweight sensory setup to acquire data in human-restricted areas with adverse lighting conditions, especially in areas that are high above the ground. The introduced localization method relies on an easy-to-obtain 3-D point cloud of a historical building, while it copes with a lack of visible light by fusing active laser-based sensors. The approach does not rely on any external localization, or on a preset motion-capture system. This enables fast deployment in the interiors of investigated structures while being computationally undemanding enough to process data online, onboard an MAV equipped with ordinary processing resources. The reliability of the system is analyzed, is quantitatively evaluated on a set of aerial trajectories performed inside a real-world church, and is deployed onto the aerial platform in the position control feedback loop to demonstrate the reliability of the system in the safety-critical application of historical monuments documentation.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Volume of the periodical

5

Issue of the periodical within the volume

2

Country of publishing house

US - UNITED STATES

Number of pages

8

Pages from-to

2078-2085

UT code for WoS article

000526521400006

EID of the result in the Scopus database

2-s2.0-85079797045