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Visual Measurement Integrity Monitoring for UAV Localization [article]

Chengyao Li, Steven L. Waslander
2019 arXiv   pre-print
In this paper, we propose a novel approach inspired by RAIM to monitor the integrity of optimization-based visual localization and calculate the protection level of a state estimate, i.e. the largest possible  ...  However, to the best of our knowledge, such an approach does not exist for optimization-based visual localization.  ...  Although integrity monitoring is a well-developed area for GNSS applications, it is still non-trivial to adapt it in optimization-based UAV visual localization.  ... 
arXiv:1909.08537v1 fatcat:lujr2gg7zjg25hljctdk3c4yxa

Environmental Monitoring with Visuo-Haptic Augmented Reality UAV Teleoperation

Stefano Caselli, Jacopo Aleotti, Manuele Bettelli, Andrea Zappettini
2019 Zenodo  
We report the field evaluation of a haptic guidance system for Unmanned Aerial Vehicles (UAV) in the context of environmental monitoring tasks.  ...  The haptic system, supplemented with visual cues integrated in an Augmented Reality interface, has been tested in monitoring tasks in relevant and operational environments.  ...  Current notable UAVbased monitoring applications include facility visual inspection for wear assessment in structural engineering (e.g. bridges) [1] , evaluation of crop ripeness and irrigation needs  ... 
doi:10.5281/zenodo.4782217 fatcat:wvoo3vvd4rff3ibvlqn56ewopy

UAV-Based Remote Sensing Applications for Bridge Condition Assessment

Sainab Feroz, Saleh Abu Dabous
2021 Remote Sensing  
Remote sensing technologies such as visual imagery, infrared thermography, LiDAR, and other sensors, integrated with UAVs for data acquisition are analyzed in depth.  ...  Non-destructive testing (NDT) using Unmanned Aerial Vehicles (UAVs) have been gaining momentum for bridge monitoring in the recent years, particularly due to enhanced accessibility and cost efficiency,  ...  Kim et al. used deep learning convolutional neural networks for detection and measurement of crack geometry via image classification and localization [79] .  ... 
doi:10.3390/rs13091809 fatcat:czb4tvnfmbfttf3mvwl6jclgxq

Real-time 3D Reconstruction on Construction Site using Visual SLAM and UAV [article]

Zhexiong Shang, Zhigang Shen
2017 arXiv   pre-print
Integrated with Unmanned Aerial Vehicle (UAV), the obstacles areas that are inaccessible for the ground equipment can also be sensed.  ...  Therefore, the objective of this research is to present a pilot study of using visual SLAM and UAV for real-time construction site reconstruction.  ...  Integrating with 4D BIM, Visual SLAM is capable of monitoring detailed working progress on jobsite and efficiently detecting the task delay or changes.  ... 
arXiv:1712.07122v1 fatcat:kmby7ezovvdm7kvrmokzrbstjy


Crespillo. Garcia Omar; Grosh, Anja; Fehr, Matthias; Zhu, Chen; Neri, Alessandro; Salvitti, Maurizio; Dionisio, Cesare; Xefteris, Panagiotis; Salvatori, Pietro; Capua, Roberto; Gattuso. Luca; Innocenti, Manuele; Giangolini, Marco; Kutik, Ondrej; Krajicek, Miroslav; Loupis, Michael; Spanoudakis, John
2020 Zenodo  
for the visual sensors.  ...  The methods to monitor integrity are based on GBAS or SBAS systems however alternative integrity methods are needed for UAV/RPAS when they operate at very low altitude.  ... 
doi:10.5281/zenodo.4560268 fatcat:7folpuxwhrexrpoqzyd4lkmu4e

Autonomous Flight using a Smartphone as On-Board Processing Unit in GPS-Denied Environments

Michael Leichtfried, Christoph Kaltenriner, Annette Mossel, Hannes Kaufmann
2013 Proceedings of International Conference on Advances in Mobile Computing & Multimedia - MoMM '13  
The UAV is able to map, locate and navigate in an unknown indoor environment fusing vision based tracking with inertial and attitude measurements.  ...  We demonstrate the UAVs capabilities of mapping, localization and navigation in an unknown 2D marker environment.  ...  Furthermore, we will integrate depth sensing image devices to allow for dense 3D mapping and localization in unconstrained indoor environments.  ... 
doi:10.1145/2536853.2536898 dblp:conf/momm/LeichtfriedKMK13 fatcat:ouqjjl5zjrc6hby47aaviovolu

Vision-Based UAV-UGV Collaboration for Autonomous Construction Site Preparation

Oren Elmakis, Tom Shaked, Amir Degani
2022 IEEE Access  
In this method, the UAV produces a material map and monitors the UGV's location relative to known static landmarks.  ...  Additionally, this method is integrated within Shepherd, a custom-developed plugin for computer-aided design applications.  ...  This is implemented using the site visualization from the UAV, creating the site-localization EKF.  ... 
doi:10.1109/access.2022.3170408 fatcat:q77nsdkr4bgbvaqpeerxnhcf7m


F. Gaspari, F. Ioli, F. Barbieri, E. Belcore, L. Pinto
2022 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
Indeed, recent years have seen the growing diffusion and adoption of non-invasive approaches consisting in the use of Unmanned Aerial Vehicles (UAVs) for applications that range from visual inspection  ...  A first approach involving the integration of traditional topographic and GNSS techniques with TLS and photogrammetry with cameras mounted on UAV was compared with a UAV-LiDAR method based on the use of  ...  Visual imaging techniques adopting optical cameras represent the most common Non-Destructive Testing (NDT) approaches for bridge monitoring (Feroz & Abu Dabous, 2021) .  ... 
doi:10.5194/isprs-archives-xliii-b2-2022-995-2022 fatcat:c6xrvho4enhuroegbqkfporn64

Riverine Plastic Litter Monitoring Using Unmanned Aerial Vehicles (UAVs)

Marlein Geraeds, Tim van Emmerik, Robin de Vries, Mohd Shahrizal bin Ab Razak
2019 Remote Sensing  
With this, we show that UAV-based monitoring methods are a promising alternative for currently available approaches for monitoring riverine plastic transport, especially in remote and inaccessible areas  ...  Additional plastic measurements were done in parallel with the UAV-based approach to make comparisons between the two methods.  ...  Ali, and the student team of UPM for their hard work during the data collection for the visual survey.  ... 
doi:10.3390/rs11172045 fatcat:dxihf6uwjnf6djvjyebxp3omny

A ROS Multi-Tier UAV Localization Module Based on GNSS, Inertial and Visual-Depth Data

Angelos Antonopoulos, Michail G. Lagoudakis, Panagiotis Partsinevelos
2022 Drones  
For the purposes of this study, an integrated UAV navigation system was designed and implemented which utilizes GNSS, visual, depth and inertial data to provide real-time localization.  ...  The implementation is built as a package for the Robotic Operation System (ROS) environment to allow ease of integration in various systems.  ...  By integrating the inertial measurements between the visual-depth SLAM estimations, the system was able to perform stably at 30 Hz, doubling the initial rate.  ... 
doi:10.3390/drones6060135 fatcat:wfa4jzf555a5pk7t5nycp2677u

Achieving Sensor Fusion for Collaborative Multi-level Monitoring of Pipeline Infrastructures [article]

Grigore Stamatescu
2015 arXiv   pre-print
The paper discusses a multi-level system architecture for data collection and processing based on the collaborative integration of wireless sensor networks and unmanned aerial vehicles.  ...  One example is the deployment of such systems in pipeline infrastructure applications which have to be monitored for leaks and protected from unauthorized access, with the potential of causing significant  ...  Current and future work is aimed at deploying an integrated functional model of the monitoring systems, including WSN and UAV components and proving it's applicability in a real scenario.  ... 
arXiv:1511.01538v1 fatcat:rrfwyhyihze5viofncdmqs34e4

Visual monitoring of civil infrastructure systems via camera-equipped Unmanned Aerial Vehicles (UAVs): a review of related works

Youngjib Ham, Kevin K. Han, Jacob J Lin, Mani Golparvar-Fard
2016 Visualization in Engineering  
Over the past few years, the application of camera-equipped Unmanned Aerial Vehicles (UAVs) for visually monitoring construction and operation of buildings, bridges, and other types of civil infrastructure  ...  These platforms can frequently survey construction sites, monitor work-in-progress, create documents for safety, and inspect existing structures, particularly for hard-to-reach areas.  ...  Review UAV-driven visual monitoring for construction and civil infrastructure systems The goal of a UAV-driven visual performance monitoring procedure is to (1) collect images or videos from the most informative  ... 
doi:10.1186/s40327-015-0029-z fatcat:bvzprovkvjdonftuar3kg2z5li

Low cost infrared and near infrared sensors for UAVs

S. T. Aden, J. P. Bialas, Z. Champion, E. Levin, J. L. McCarty
2014 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
In this project, thermal imagery collected via a lightweight remote sensing Unmanned Aerial Vehicle (UAV) was used to create a surface temperature map for the purpose of providing wildland firefighting  ...  The UAV system proved to be flexible, allowing for customized sensor packages to be designed that could include visible or infrared cameras, GPS, temperature sensors, and rangefinders, in addition to many  ...  Yushin Ahn, John Kaminski, Kavitha Lakshmi, and Ioakeim Tellidis for providing critical advice and assistance with the project.  ... 
doi:10.5194/isprsarchives-xl-1-1-2014 fatcat:375tdarjrbf3zppi7zpvan5o24

Survey on Computer Vision for UAVs: Current Developments and Trends

Christoforos Kanellakis, George Nikolakopoulos
2017 Journal of Intelligent and Robotic Systems  
To this extent, visual sensing techniques have been integrated in the control pipeline of the UAVs in order to enhance their navigation and guidance skills.  ...  The aim of this article is to present a comprehensive literature review on vision based applications for UAVs focusing mainly on current developments and trends.  ...  This control method was able to integrate the measurements from a monocular visual SLAM based strategy, fused with inertial measurements, while the inertial SLAM computed the information for the navigation  ... 
doi:10.1007/s10846-017-0483-z fatcat:2abqia3mlnedrlonxhlsjanffy

UAV-Based and WebRTC-Based Open Universal Framework to Monitor Urban and Industrial Areas

Agnieszka Chodorek, Robert Ryszard Chodorek, Paweł Sitek
2021 Sensors  
Nowadays, we are observing a rapid development of UAV-based monitoring systems, which are faced with more and more new tasks, such as high temporal resolution and high spatial resolution of measurements  ...  The proposed framework combines mobility of UAV with IoT measurements and full-stack WebRTC communications.  ...  Weather measurements are used for calibration of other sensors for environmental monitoring, such as air quality sensors.  ... 
doi:10.3390/s21124061 fatcat:2tbrt5ytzzhwnjue3qqkxwy3qy
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