Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments
Popis výsledku anglicky
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.
Klasifikace
Druh
J<sub>imp</sub> - Článek v periodiku v databázi Web of Science
CEP obor
—
OECD FORD obor
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Návaznosti výsledku
Projekt
Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Ostatní
Rok uplatnění
2020
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název periodika
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Svazek periodika
5
Číslo periodika v rámci svazku
2
Stát vydavatele periodika
US - Spojené státy americké
Počet stran výsledku
8
Strana od-do
2078-2085
Kód UT WoS článku
000526521400006
EID výsledku v databázi Scopus
2-s2.0-85079797045