3572370
doi
10.1007/978-3-030-35990-4_3
oai:zenodo.org:3572370
user-eu
J. L. Paneque
Universidad de Sevilla
J. R. Martínez-de Dios
Universidad de Sevilla
A. Ollero
Universidad de Sevilla
Online Detection and Tracking of Pipes During UAV Flight in Industrial Environments
A. Gómez Eguíluz
Universidad de Sevilla
doi:10.1007/978-3-030-35990-4_3
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
<p>3D LiDaR-based perception has been used in robotics for obtaining accurate representations of the robot surroundings. As pipes are one of the most common objects in industrial environments, cylinder detection systems provide valuable information for robot navigation in industrial scenarios. However, most cylinder detection approaches using 3D LiDaRs suffer from high computational requirements and, therefore, their on-line implementation on real robots is limited for certain applications. This work proposes a computationally-light probabilistic approach to pipe detection and tracking suitable for aerial robot mapping and navigation. The proposed method was tested in both simulation and real scenarios. Through a combination of previous estimates and the localisation of the robot, the proposed approach is capable of reducing the computational cost of the RANSAC algorithm while keeping high detection accuracy.</p>
Zenodo
2019-11-20
info:eu-repo/semantics/conferencePaper
3572369
user-eu
award_title=General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety; award_number=788247; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/788247; funder_id=00k4n6c32; funder_name=European Commission;
1625757341.399129
3785587
md5:35d97b487407c5091eaee55fcd4011b9
https://zenodo.org/records/3572370/files/ROBOT2019_pipe_detection_an_tracking.pdf
public
10.1007/978-3-030-35990-4_3
Is cited by
doi