Tree Cavity Inspection Using Aerial Robots
Creators
- 1. Disney Research Zurich/ Autonomous Systems Lab / ETH Zurich
- 2. Autonomous Systems Lab / ETH Zurich
- 3. Disney Research Zurich
- 4. Swiss Federal Institute for Forest, Snow and Landscape Research WSL
- 5. Swiss Federal Institute for Forest, Snow and Landscape Research WSL / Bern University of Applied Science / School of Agricultural, Forest and Food Sciences HAFL
Description
This video shows our approach to autonomous tree cavity inspection both in simulation and real experiment. It accompanies the paper referenced below.
Reference
Steich, Kelly, et al. "Tree cavity inspection using aerial robots." Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, 2016.
Abstract
We present an aerial robotic platform for remote tree cavity inspection, based on a hexacopter Micro-Aerial vehicle (MAV) equipped with a dexterous manipulator. The goal is to make the inspection process safer and more efficient and facilitate data collection about tree cavities, which are important for the conservation of biodiversity in forest ecosystems. This work focuses on two key enabling technologies, namely a vision-based cavity detection system and strategies for high level control of the MAV and manipulator. The results of both simulation and real-world experiments are discussed at the end of the paper and demonstrate the effectiveness of our approach.
Files
Tree Cavity Inspection Using Multirotor System.mp4
Files
(11.0 MB)
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Additional details
References
- Steich, Kelly, et al. "Tree cavity inspection using aerial robots." Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, 2016.
- Kamel, Mina, Kostas Alexis, and Roland Siegwart. "Design and modeling of dexterous aerial manipulator." Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, 2016.