eprintid: 2390
rev_number: 13
eprint_status: archive
userid: 285
dir: disk0/00/00/23/90
datestamp: 2017-06-14 09:57:38
lastmod: 2017-06-14 09:57:38
status_changed: 2017-06-14 09:57:38
type: conference_item
metadata_visibility: show
creators_name: Phung, Manh Duong
creators_name: Quach, Cong Hoang
creators_name: Chu, Duc Trinh
creators_name: Nguyen, Ngoc Que
creators_name: Dinh, Tran Hiep
creators_name: Ha, Quang
creators_id: duongpm@vnu.edu.vn
creators_id: hoangqc@vnu.edu.vn
creators_id: trinhcd@vnu.edu.vn
creators_id: quenn@gmail.com
creators_id: tranhiep.dinh@vnu.edu.vn
creators_id: quangha@gmail.com
title: Automatic Interpretation of Unordered Point Cloud Data for UAV Navigation in Construction
ispublished: pub
subjects: ECE
divisions: fac_fet
abstract: 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.
date: 2016-11-13
date_type: published
official_url: http://ieeexplore.ieee.org/document/7838683/
full_text_status: public
pres_type: paper
pagerange: 1-6
event_title: The 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016)
event_location: Phuket, Thailand
event_dates: 13-15 Nov. 2016
event_type: conference
refereed: TRUE
citation:   Phung, Manh Duong and Quach, Cong Hoang and Chu, Duc Trinh and Nguyen, Ngoc Que and Dinh, Tran Hiep and Ha, Quang  (2016) Automatic Interpretation of Unordered Point Cloud Data for UAV Navigation in Construction.  In: The 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016), 13-15 Nov. 2016, Phuket, Thailand.     
document_url: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2390/1/1612.07850.pdf