Visual inspection and maintenance ofindustrialpipes using robots represent an emerging application in Oil Gas and refinery facilities. In this domain, we present a pose tracking system based on a single camera sensor to localize an unmanned aerial vehicle operating over a pipe-rack to carry out inspection activities. We propose a unified framework based on the Lie group SE(3) which allows the simultaneous estimation of the pose of the UAV along with some parameters of the pipe-rack model. Numerical simulations have been performed to demonstrate the effectiveness of the proposed approach.
Robust Visual Localization of a UAV over a Pipe-Rack Based on the Lie Group SE(3) / Lippiello, V.; Cacace, J.. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 7:1(2022), pp. 295-302. [10.1109/LRA.2021.3125039]
Robust Visual Localization of a UAV over a Pipe-Rack Based on the Lie Group SE(3)
Lippiello V.Primo
Conceptualization
;Cacace J.
Secondo
Validation
2022
Abstract
Visual inspection and maintenance ofindustrialpipes using robots represent an emerging application in Oil Gas and refinery facilities. In this domain, we present a pose tracking system based on a single camera sensor to localize an unmanned aerial vehicle operating over a pipe-rack to carry out inspection activities. We propose a unified framework based on the Lie group SE(3) which allows the simultaneous estimation of the pose of the UAV along with some parameters of the pipe-rack model. Numerical simulations have been performed to demonstrate the effectiveness of the proposed approach.| File | Dimensione | Formato | |
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