New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy for Fast Digitalization of Difficult-to-Access Interiors of Historical Monuments

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00362934" target="_blank" >RIV/68407700:21230/24:00362934 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/MRA.2023.3244423" target="_blank" >https://doi.org/10.1109/MRA.2023.3244423</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/MRA.2023.3244423" target="_blank" >10.1109/MRA.2023.3244423</a>

Jazyk výsledku

angličtina

Název v původním jazyce

New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy for Fast Digitalization of Difficult-to-Access Interiors of Historical Monuments

Popis výsledku v původním jazyce

Digital documentation of large interiors of historical buildings is an exhausting task since most of the areas of interest are beyond typical human reach. We advocate the use of autonomous teams of multi-rotor Unmanned Aerial Vehicles (UAVs) to speed up the documentation process by several orders of magnitude while allowing for a repeatable, accurate, and condition-independent solution capable of precise collision-free operation at great heights. The proposed multi-robot approach allows for performing tasks requiring dynamic scene illumination in large-scale real-world scenarios, a process previously applicable only in small-scale laboratory-like conditions. Extensive experimental analyses range from single-UAV imaging to specialized lighting techniques requiring accurate coordination of multiple UAVs. The system’s robustness is demonstrated in more than two hundred autonomous flights in fifteen historical monuments requiring superior safety while lacking access to external localization. This unique experimental campaign, cooperated with restorers and conservators, brought numerous lessons transferable to other safety-critical robotic missions in documentation and inspection tasks.

Název v anglickém jazyce

New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy for Fast Digitalization of Difficult-to-Access Interiors of Historical Monuments

Popis výsledku anglicky

Digital documentation of large interiors of historical buildings is an exhausting task since most of the areas of interest are beyond typical human reach. We advocate the use of autonomous teams of multi-rotor Unmanned Aerial Vehicles (UAVs) to speed up the documentation process by several orders of magnitude while allowing for a repeatable, accurate, and condition-independent solution capable of precise collision-free operation at great heights. The proposed multi-robot approach allows for performing tasks requiring dynamic scene illumination in large-scale real-world scenarios, a process previously applicable only in small-scale laboratory-like conditions. Extensive experimental analyses range from single-UAV imaging to specialized lighting techniques requiring accurate coordination of multiple UAVs. The system’s robustness is demonstrated in more than two hundred autonomous flights in fifteen historical monuments requiring superior safety while lacking access to external localization. This unique experimental campaign, cooperated with restorers and conservators, brought numerous lessons transferable to other safety-critical robotic missions in documentation and inspection tasks.

Druh

J_imp - 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)

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)

Rok uplatnění

2024

Kód důvěrnosti údajů

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

Název periodika

IEEE ROBOTICS & AUTOMATION MAGAZINE

ISSN

1070-9932

e-ISSN

1558-223X

Svazek periodika

31

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

18

Strana od-do

8-25

Kód UT WoS článku

000943284100001

EID výsledku v databázi Scopus

2-s2.0-85149359542