Autonomous Flying into Buildings in a Firefighting Scenario

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353570" target="_blank" >RIV/68407700:21230/21:00353570 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ICRA48506.2021.9560789" target="_blank" >https://doi.org/10.1109/ICRA48506.2021.9560789</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICRA48506.2021.9560789" target="_blank" >10.1109/ICRA48506.2021.9560789</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Autonomous Flying into Buildings in a Firefighting Scenario

Popis výsledku v původním jazyce

We propose an approach enabling an Unmanned Aerial Vehicle (UAV) to autonomously enter a target building through an open window. We use a fusion of depth camera and 2D Light Detection and Ranging (LiDAR) data for window detection and continuous estimation of its position, orientation, and size. The proposed algorithms are capable of running both with and without available a priori information. The obtained detections are utilized for planning collision-free trajectories through the target window. We use a sensor fusion algorithm for robust altitude estimation from laser rangefinder data while flying over ground with inconsistent elevation. Particular focus is given to the transition between outdoor and indoor environments and vice-versa to achieve the required reliability of UAV state estimation. The proposed approach has been verified in multiple real-world experiments, where the UAV was able to successfully enter and leave the target building both under normal conditions and under decreased visibility conditions in a smoke-filled environment.

Název v anglickém jazyce

Autonomous Flying into Buildings in a Firefighting Scenario

Popis výsledku anglicky

We propose an approach enabling an Unmanned Aerial Vehicle (UAV) to autonomously enter a target building through an open window. We use a fusion of depth camera and 2D Light Detection and Ranging (LiDAR) data for window detection and continuous estimation of its position, orientation, and size. The proposed algorithms are capable of running both with and without available a priori information. The obtained detections are utilized for planning collision-free trajectories through the target window. We use a sensor fusion algorithm for robust altitude estimation from laser rangefinder data while flying over ground with inconsistent elevation. Particular focus is given to the transition between outdoor and indoor environments and vice-versa to achieve the required reliability of UAV state estimation. The proposed approach has been verified in multiple real-world experiments, where the UAV was able to successfully enter and leave the target building both under normal conditions and under decreased visibility conditions in a smoke-filled environment.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA20-10280S" target="_blank" >GA20-10280S: Spolehlivé kompaktní skupiny miniaturních vzdušných robotů proměnného tvaru řízené senzorickým vnímáním</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

IEEE International Conference on Robotics and Automation (ICRA)

ISBN

978-1-7281-9077-8

ISSN

1050-4729

e-ISSN

2577-087X

Počet stran výsledku

7

Strana od-do

239-245

Název nakladatele

IEEE Xplore

Místo vydání

—

Místo konání akce

Xi’an

Datum konání akce

30. 5. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000765738800024