Testing Procedure of Unmanned Aerial Vehicles (UAVs) Trajectory in Automatic Missions

Ćwiąkała, Paweł

doi:10.3390/app9173488

Cited by 23 publications

(14 citation statements)

References 60 publications

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“…An additional assessment of the accuracy of direct georeferencing could be based on the assessment of the positional accuracy of camera positions in addition to the accuracy on CP (e.g., tracking the UAVs trajectory by traditional topographic techniques and a prism mounted on the platform, as proposed in [73]. The platform tracking would also allow the actual flight path to be checked with respect to the designed flight plan, which could be a critical issue in areas with obstacles and occlusions.…”

Section: Discussionmentioning

confidence: 99%

Boosting the Timeliness of UAV Large Scale Mapping. Direct Georeferencing Approaches: Operational Strategies and Best Practices

Losè

Chiabrando

Tonolo

2020

IJGI

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The use of unmanned aerial vehicles (UAVs) is nowadays a standard approach in several application fields. Researches connected with these systems cover several topics and the evolution of these platforms and their applications are rapidly growing. Despite the high level of automatization reached nowadays, there is still a phase of the overall UAVs’ photogrammetric pipeline that requires a high effort in terms of time and resources (i.e., the georeferencing phase). However, thanks to the availability of survey-grade GNSS (Global Navigation Satellite System) receivers embedded in the aerial platforms, it is possible to also enhance this phase of the processing by adopting direct georeferencing approaches (i.e., without using any ground control point and exploiting real time kinematic (RTK) positioning). This work investigates the possibilities offered by a multirotor commercial system equipped with a RTK-enabled GNSS receiver, focusing on the accuracy of the georeferencing phase. Several tests were performed in an ad-hoc case study exploiting different georeferencing solutions and assessing the 3D positional accuracies, thanks to a network of control points. The best approaches to be adopted in the field according to accuracy requirements of the final map products were identified and operational guidelines proposed accordingly.

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Section: Discussionmentioning

confidence: 99%

Boosting the Timeliness of UAV Large Scale Mapping. Direct Georeferencing Approaches: Operational Strategies and Best Practices

Losè

Chiabrando

Tonolo

2020

IJGI

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“…While the proposed method in this paper is not unique in terms of supporting UAVs, as any automated or even manned solutions can utilize the results, the strengths of the method are highlighted in the areas where an autonomous vehicle provides significant advantages over manned solutions (e.g., in aerial surveillance and monitoring). Furthermore, there has been much on-going research into real-world applications of UAVs in surveillance and monitoring operations [19,20].…”

Section: Discussionmentioning

confidence: 99%

Convex Decomposition for a Coverage Path Planning for Autonomous Vehicles: Interior Extension of Edges

Nielsen

Sung

Nielsen

2019

Sensors

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To cover an area of interest by an autonomous vehicle, such as an Unmanned Aerial Vehicle (UAV), planning a coverage path which guides the unit to cover the area is an essential process. However, coverage path planning is often problematic, especially when the boundary of the area is complicated and the area contains several obstacles. A common solution for this situation is to decompose the area into disjoint convex sub-polygons and to obtain coverage paths for each sub-polygon using a simple back-and-forth pattern. Aligned with the solution approach, we propose a new convex decomposition method which is simple and applicable to any shape of target area. The proposed method is designed based on the idea that, given an area of interest represented as a polygon, a convex decomposition of the polygon mainly occurs at the points where an interior angle between two edges of the polygon is greater than 180 degrees. The performance of the proposed method is demonstrated by comparison with existing convex decomposition methods using illustrative examples.

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“…Generally, these analyses are based on performing the full analysis pipeline and comparing the results to a known ground truth. In (Saponaro et al, 2019), (Roberts et al, 2017) and (Cwiakala, 2019) the authors test reconstruction performance on real images from UAS missions, while in (Hoppe et al, 2012), (Peng and Isler, 2019) and (Koch et al, 2019) simulated images are used. In all these cases, a 3D reconstruction with SfM is computed and certain points are compared to their kown true position.…”

Section: Existing Approachesmentioning

confidence: 99%

Evaluation of 3d Uas Flight Path Planning Algorithms

Debus

Rodehorst

2021

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. The application of image-based methods in inspections and monitoring has increased significantly over recent years. This is especially the case for the inspection of large structures that are not easily accessible for human inspectors. Here, unmanned aircraft systems (UAS) can support by generating high-quality images, that contain valuable information about the structure’s condition. To guarantee high quality and completeness for the acquired data, inspection missions are planned in advance by computing a flight path for the UAS, that covers the entire structure with the required quality. Many approaches on this topic exist that aim to solve this planning task. Nevertheless, each publication on this matter mostly stands on its own, working with its own criteria and no comparison to other approaches. Therefore, it is currently not possible to compare different approaches and select the most suitable for a specific scenario. To solve this problem, this work proposes an evaluation pipeline that applies well defined quality criteria on flight paths for close-range image-based inspections. These criteria are limited to fundamental aspects for the evaluation of paths that were created for diverse scenarios with diverse criteria and still find common ground for comparison. As experiments show, this pipeline allows the comparison of different approaches, objectifying the performance and working towards a common understanding of the current state of the art. Finally, the Bauhaus Path Planning Challenge is presented, inviting submissions to a comparison based on this pipeline to collaborate on an objective ranking, available under https://uni-weimar.de/pathplanning.

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Testing Procedure of Unmanned Aerial Vehicles (UAVs) Trajectory in Automatic Missions

Cited by 23 publications

References 60 publications

Boosting the Timeliness of UAV Large Scale Mapping. Direct Georeferencing Approaches: Operational Strategies and Best Practices

Boosting the Timeliness of UAV Large Scale Mapping. Direct Georeferencing Approaches: Operational Strategies and Best Practices

Convex Decomposition for a Coverage Path Planning for Autonomous Vehicles: Interior Extension of Edges

Evaluation of 3d Uas Flight Path Planning Algorithms

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