Autonomous Flight Drone for Infrastructure (Transmission line) Inspection (3)

被引：0

作者：

Morita, Michinari ^{[1
]}

Kinjo, Hironobu ^{[1
]}

Sato, Shido ^{[1
]}

Sulyyon, Tansuriyavong ^{[1
]}

Anezaki, Takashi ^{[1
]}

机构：

[1] Okinawa Coll, Natl Inst Technol, Nago, Okinawa, Japan

来源：

2017 2ND INTERNATIONAL CONFERENCE ON INTELLIGENT INFORMATICS AND BIOMEDICAL SCIENCES (ICIIBMS) | 2017年

关键词：

inspection of transmission power lines; drone; position estimation; SFM; SLAM; 5-point algorithm; Perspective-n-Point; bundle adjustment;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We are developing a system for "automatic inspection of infrastructures using drones" especially aimed at transmission power lines. Basically, drones fly using GPS information. GPS errors, however, occur near high voltage lines. In non-GPS zones where drones fly without using GPS, they fly using v-SLAM. Determining the absolute position is indispensable for transmission line inspection. v-SLAM, however, only provides relative localization. Therefore, to obtain the drone's absolute position, we used feature points on the image as landmarks.

引用

页码：198 / 201

页数：4

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