TY  - CONF
ID  - SisLab2390
UR  - http://ieeexplore.ieee.org/document/7838683/
A1  - Phung, Manh Duong
A1  - Quach, Cong Hoang
A1  - Chu, Duc Trinh
A1  - Nguyen, Ngoc Que
A1  - Dinh, Tran Hiep
A1  - Ha, Quang
Y1  - 2016/11/13/
N2  - The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes data recorded by two 2D laser scanners, orthogonally mounted on the UAV, and an inertial measurement unit (IMU). To achieve the goal, algorithms are developed to process the data collected. They are separated into three major groups: (i) the data registration and filtering to generate a 3D model of the structure and control the density of point clouds for data completeness enhancement; (ii) the surface and obstacle detection to assist the UAV in monitoring tasks; and (iii) the waypoint generation to set the flight path. Experiments on different data sets show that the developed system is able to reconstruct a 3D point cloud of the structure, extract its surfaces and objects, and generate waypoints for the UAV to accomplish inspection tasks.
TI  - Automatic Interpretation of Unordered Point Cloud Data for UAV Navigation in Construction
SP  - 1
M2  - Phuket, Thailand
AV  - public
EP  - 6
T2  - The 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016)
ER  -