A novel distributed architecture for UAV indoor navigation

Li, Yuntian; Scanavino, Matteo; Capello, Elisa; Dabbene, Fabrizio; Guglieri, Giorgio; Vilardi, Andrea

doi:10.1016/j.trpro.2018.12.003

Cited by 31 publications

(9 citation statements)

References 16 publications

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“…As light and small sensors with high precision and accuracy performance and low latency emerged, many navigation architectures for indoor flights have also been proposed. A summary of UAV indoor navigation architectures can be found in [ 119 ]. SURF features for template matching to compare relative obstacle sizes with different image spacing have been employed to detect and avoid obstacles during indoor test flights in [ 120 ].…”

Section: Eye Level Viewmentioning

confidence: 99%

A Survey of Computer Vision Methods for 2D Object Detection from Unmanned Aerial Vehicles

et al. 2020

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The spread of Unmanned Aerial Vehicles (UAVs) in the last decade revolutionized many applications fields. Most investigated research topics focus on increasing autonomy during operational campaigns, environmental monitoring, surveillance, maps, and labeling. To achieve such complex goals, a high-level module is exploited to build semantic knowledge leveraging the outputs of the low-level module that takes data acquired from multiple sensors and extracts information concerning what is sensed. All in all, the detection of the objects is undoubtedly the most important low-level task, and the most employed sensors to accomplish it are by far RGB cameras due to costs, dimensions, and the wide literature on RGB-based object detection. This survey presents recent advancements in 2D object detection for the case of UAVs, focusing on the differences, strategies, and trade-offs between the generic problem of object detection, and the adaptation of such solutions for operations of the UAV. Moreover, a new taxonomy that considers different heights intervals and driven by the methodological approaches introduced by the works in the state of the art instead of hardware, physical and/or technological constraints is proposed.

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Section: Eye Level Viewmentioning

confidence: 99%

A Survey of Computer Vision Methods for 2D Object Detection from Unmanned Aerial Vehicles

et al. 2020

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“…В качестве внешних информационно-измерительных устройств к полетному контроллеру, как правило, подключается модуль ГЛОНАСС/GPS и датчики расстояния, используемые для предотвращения столкновений. При полетах в помещениях вместо спутниковой навигации может быть использована локальная навигация по камере [48], радио-или ультразвуковым маякам [49]. Также к полетному контроллеру (рис.…”

Section: сервисные роботы на элементной базе для любительских радиомоделейunclassified

A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics

Romanov

2020

Rossijskij tehnologičeskij žurnal

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A review of robotic systems was carried out. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, the achievement of fault tolerance, and the reduction of the weight and size of control system elements belonging to various classes of robotic systems were carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to service robotics. The following conclusions are made on the basis of the review results: the key technology in service robotics from the point of view of scalability is the Robot Operating System (ROS); service robotics is today the main springboard for testing intelligent algorithms for the tactical and strategic control levels that are integrated into a common system based on ROS; the problem of ensuring fault tolerance in the service robotics is practically neglected, with the exception of the issue of increasing reliability by changing behavioral algorithms; in a number of areas of service robotics, in which the reduction of mass and dimensions is especially important, the robot control systems are implemented on a single computing device, in other cases a multi-level architecture implemented on Linux-based embedded computers with ROS are used.

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“…This is due to the recent big improvements made in terms of localization performances of VSLAM algorithms [32]. Due to the increasing computational power of computers [33], VSLAM localization principles became more popular for indoor localization purposes. VSLAM principles were only used a few times in agricultural applications [29,34].…”

Section: Introductionmentioning

confidence: 99%

Visual SLAM for Indoor Livestock and Farming Using a Small Drone with a Monocular Camera: A Feasibility Study

Krul

Pantos

Frangulea

et al. 2021

Drones

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Real-time data collection and decision making with drones will play an important role in precision livestock and farming. Drones are already being used in precision agriculture. Nevertheless, this is not the case for indoor livestock and farming environments due to several challenges and constraints. These indoor environments are limited in physical space and there is the localization problem, due to GPS unavailability. Therefore, this work aims to give a step toward the usage of drones for indoor farming and livestock management. To investigate on the drone positioning in these workspaces, two visual simultaneous localization and mapping (VSLAM)—LSD-SLAM and ORB-SLAM—algorithms were compared using a monocular camera onboard a small drone. Several experiments were carried out in a greenhouse and a dairy farm barn with the absolute trajectory and the relative pose error being analyzed. It was found that the approach that suits best these workspaces is ORB-SLAM. This algorithm was tested by performing waypoint navigation and generating maps from the clustered areas. It was shown that aerial VSLAM could be achieved within these workspaces and that plant and cattle monitoring could benefit from using affordable and off-the-shelf drone technology.

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A novel distributed architecture for UAV indoor navigation

Cited by 31 publications

References 16 publications

A Survey of Computer Vision Methods for 2D Object Detection from Unmanned Aerial Vehicles

A Survey of Computer Vision Methods for 2D Object Detection from Unmanned Aerial Vehicles

A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics

Visual SLAM for Indoor Livestock and Farming Using a Small Drone with a Monocular Camera: A Feasibility Study

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