This video shows our approach to autonomous tree cavity inspection both in simulation and real experiment. It accompanies the paper referenced below. Reference Steich, Kelly, et al. "Tree cavity inspection using aerial robots." Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, 2016. Abstract We present an aerial robotic platform for remote tree cavity inspection, based on a hexacopter Micro-Aerial vehicle (MAV) equipped with a dexterous manipulator. The goal is to make the inspection process safer and more efficient and facilitate data collection about tree cavities, which are important for the conservation of biodiversity in forest ecosystems. This work focuses on two key enabling technologies, namely a vision-based cavity detection system and strategies for high level control of the MAV and manipulator. The results of both simulation and real-world experiments are discussed at the end of the paper and demonstrate the effectiveness of our approach.
Tree Cavity Inspection Using Aerial Robots
2016-09-09
oai:zenodo.org:1143653
Audiovisuelles Material
Elektronische Ressource
Englisch
AEROWORKS , ASL , ETH , Zurich , Robotics , Autonomous , Systems , Switzerland , Engineering , UAV , MAV , Robot , Tree , Cavity , Aerial , Inspection , Woodpacker , Forest , Manipulation
DDC: | 629 |
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