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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2019, Vol. 1 Issue (3): 81-92    DOI: 10.1049/iet-csr.2019.0016
    
通过现有四轴飞行器的自主导航实现多平面区域的拼接
Meghshyam G. Prasad1, Sona Praneeth Akula1, Anirudh Vemula2, Sharat Chandran1
1 Department of Computer Science and Engineering , IIT Bombay , India 2 Robotics Institute, Carnegie Mellon University, PA 15213 , USA
Mosaicing of multiplanar regions through autonomous navigation of off-the-shelf quadcopter
Meghshyam G. Prasad1, Sona Praneeth Akula1, Anirudh Vemula2, Sharat Chandran1
1 Department of Computer Science and Engineering , IIT Bombay , India 2 Robotics Institute, Carnegie Mellon University, PA 15213 , USA
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摘要： 现实世界是由多平面和曲面构成的。如果一个场景包含比相机视场更大的视场，那么使用手持相机通过正投影视图对这些表面进行成像是很麻烦的。如果场景在地理上超出了人类能够到达的范围或者无法进入这个场景，那么就无法使用手持设备上对场景进行这样的正面拍摄。廉价飞行器的出现，如四轴飞行器，使大型表面的正交成像成为可能，这可以用于之后的进一步分析之中，无论是出于休闲目的还是严肃的科学目的。然而，在此类表面上，四轴飞行器的手动导航往往是十分繁琐的，并且结果并不令人满意。在本文中，作者提出了一种用于多平面表面成像的四轴飞行器自主导航方法。该方法以现有的并行跟踪和基于映射的方法为基础，创建了输入场景的近似稀疏三维地图。接下来，作者确定了每个有界平面上用来获取视频的精确位置，然后四轴飞行器自主导航操作通过这些路径点。这就产生了一个用于使用现成的四轴飞行器来可视化场景的端到端应用。
Abstract: The real world is made up of multiplanar and curved surfaces. Imaging such surfaces with an orthographic view using a handheld camera is tiring if the scene encompasses a view larger than the camera field of view. If the scene is geographically beyond the reach of humans, or access to the scene is denied, it is not possible to take such a frontal view of the scene from handheld devices. The advent of inexpensive flying vehicles such as quadcopters enables the orthographic imaging of large surfaces for later analysis either for leisure or serious scientific purposes. However, manual navigation of the quadcopter around such surfaces is tedious and results are not satisfactory. In this paper, the authors present a method for autonomous navigation of a quadcopter for imaging multiplanar surfaces. The proposed method builds on the existing parallel tracking and mapping based approach to create an approximate sparse three-dimensional map of the input scene. Next, the authors determine precise locations for obtaining videos for each bounded plane, and then autonomously manoeuver the quadcopter at these waypoints. This results in an end-to-end application for visualising scenes with an off-the-shelf quadcopter.
收稿日期: 2019-05-04 出版日期: 2020-01-13
通讯作者: Meghshyam G. Prasad     E-mail: meghshyam@gmail.com
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引用本文:

Meghshyam G. Prasad, Sona Praneeth Akula, Anirudh Vemula, Sharat Chandran. Mosaicing of multiplanar regions through autonomous navigation of off-the-shelf quadcopter. IET Cyber-Systems and Robotics, 2019, 1(3): 81-92.

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http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2019.0016    或    http://www.zjujournals.com/iet-csr/CN/Y2019/V1/I3/81

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