Proposal of an Augmented Reality Tag UAV Positioning System for Power Line Tower Inspection

Cantieri, Álvaro Rogério; Wehrmeister, Marco A.; Oliveira, André Schneider de; Lima, José; Ferraz, Matheus; Szekir, Guido

doi:10.1007/978-3-030-35990-4_8

Cited by 5 publications

(5 citation statements)

References 7 publications

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“…UAVs are also used to inspect power lines and pipelines [198][199][200][201][202][203]. The article [198] used a DJI Phantom 4 PRO V2.0 UAV to detect abnormal vibration of dampers on portable power lines.…”

Section: Non-surveying Applicationsmentioning

confidence: 99%

“…This platform has already been applied in Tianjin, China, where it achieved excellent results. The article [203] proposes a complementary attitude data system based on augmented reality tags (AR Tags) to enhance the reliability of the UAV flight-attitude-determination system, making the results positive. The positional accuracy of the UAV was increased.…”

Section: Non-surveying Applicationsmentioning

confidence: 99%

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Review of Photogrammetric and Lidar Applications of UAV

Kovanič,

Topitzer,

Peťovský

et al. 2023

Applied Sciences

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Using Unmanned Aerial Vehicles (UAVs) combined with various sensors brings the benefits associated with fast, automatic, and contactless spatial data collection with high resolution and accuracy. The most frequent application is the possibility of effectively creating spatial models based on photogrammetric and lidar data. This review analyzes the current possibilities of UAVs. It provides an overview of the current state of the art and research on selected parameters regarding their history and development, classification, regulation, and application in surveying with creating spatial models. Classification and regulation are based on national sources. The importance and usability of this review are also carried out by analyzing the UAV application with selected photogrammetric and lidar sensors. The study explores and discusses results achieved by many authors in recent years, synthesizing essential facts. By analyzing the network of co-occurring High-Frequency Words, in addition, we visualized the importance of the primary keyword UAV in the context of other keywords in the literary sources processed.

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Section: Non-surveying Applicationsmentioning

confidence: 99%

Section: Non-surveying Applicationsmentioning

confidence: 99%

Review of Photogrammetric and Lidar Applications of UAV

Kovanič,

Topitzer,

Peťovský

et al. 2023

Applied Sciences

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“…The high accuracy in the position tracking of fiducial markers, as well as their versatility, allows to apply them in different mobile robotics scenarios. For example, fiducial markers are used as a complementary localization system for a Unmanned Aerial Vehicle (UAV) in power distribution line inspections [16], in simulations for target tracking for UAVs [17], and localize mobile robots in a smart warehouse system with fiducial markers positioned on top of the robots and the camera positioned on the warehouse ceiling [18]. Similarity, visual markers are captured by a ceiling-mounted camera to position virtual LiDAR sensors on small robots [19].…”

Section: B Fiducial Markersmentioning

confidence: 99%

Improving the Mobile Robots Indoor Localization System by Combining SLAM with Fiducial Markers

Oliveira

Piardi

Bertogna

et al. 2021

2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Edu

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Autonomous mobile robots applications require a robust navigation system, which ensures the proper movement of the robot while performing their tasks. The key challenge in the navigation system is related to the indoor localization. Simultaneous Localization and Mapping (SLAM) techniques combined with Adaptive Monte Carlo Localization (AMCL) are widely used to localize robots. However, this approach is susceptible to errors, especially in dynamic environments and in presence of obstacles and objects. This paper presents an approach to improve the estimation of the indoor pose of a wheeled mobile robot in an environment. To this end, the proposed localization system integrates the AMCL algorithm with the position updates and corrections based on the artificial vision detection of fiducial markers scattered throughout the environment to reduce the errors accumulated by the AMCL position estimation. The proposed approach is based on Robot Operating System (ROS), and tested and validated in a simulation environment. As a result, an improvement in the trajectory performed by the robot was identified using the SLAM system combined with traditional AMCL corrected with the detection, by artificial vision, of fiducial markers. I. INTRODUCTIONMobile robots are widespread in several areas, such as industrial automation, agriculture, medical care, autonomous driving, product deliveries, planetary exploration, smart warehouses, personal services, construction, reconnaissance, entertainment, emergency rescue operations, patrolling and transportation [1]. Being one of the fastest-growing scientific fields today, mobile robotics has considerable impact not only on research but also on the economy. Even with the Covid-19 pandemic scenario, the robotics market is expected to move around U$23 billion in 2021 and growing to U$54 billion in 2023 [2], pointing to a considerable expansion of autonomous mobile robots applications.Characterized as intelligent systems, mobile robots have the ability to move autonomously, without the human interference [3], making decisions based on the information collected from their sensors (e.g., LiDAR, sonar and cameras), which allows them to help humans with heavy or timeconsuming tasks [4]. However, for a mobile robot to be able

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“…In most cases, a tag refers to a drawing that presents specific visual characteristics, thereby improving the quality of the visual clues for image processing. Examples of this are [13][14][15][16].…”

Section: Related Workmentioning

confidence: 99%

Cooperative UAV–UGV Autonomous Power Pylon Inspection: An Investigation of Cooperative Outdoor Vehicle Positioning Architecture

Cantieri

Ferraz

Szekir

et al. 2020

Sensors

Self Cite

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Realizing autonomous inspection, such as that of power distribution lines, through unmanned aerial vehicle (UAV) systems is a key research domain in robotics. In particular, the use of autonomous and semi-autonomous vehicles to execute the tasks of an inspection process can enhance the efficacy and safety of the operation; however, many technical problems, such as those pertaining to the precise positioning and path following of the vehicles, robust obstacle detection, and intelligent control, must be addressed. In this study, an innovative architecture involving an unmanned aircraft vehicle (UAV) and an unmanned ground vehicle (UGV) was examined for detailed inspections of power lines. In the proposed strategy, each vehicle provides its position information to the other, which ensures a safe inspection process. The results of real-world experiments indicate a satisfactory performance, thereby demonstrating the feasibility of the proposed approach.

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Proposal of an Augmented Reality Tag UAV Positioning System for Power Line Tower Inspection

Cited by 5 publications

References 7 publications

Review of Photogrammetric and Lidar Applications of UAV

Review of Photogrammetric and Lidar Applications of UAV

Improving the Mobile Robots Indoor Localization System by Combining SLAM with Fiducial Markers

Cooperative UAV–UGV Autonomous Power Pylon Inspection: An Investigation of Cooperative Outdoor Vehicle Positioning Architecture

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