Abstract In this paper it is proposed the use of a Total Station as odometry helper to improve the localization of UAVs for 3D reconstruction of underside of bridges where typically lacks of GPS signal and steel structures might produce interferences on the measures on the UAVs. The information from the Total Station is sent to the UAV through a WIFI network and is fused with data from the IMU as odometry. Robot is also provided with a RGB-D camera which provides pointclouds for building the map.
Bridge Mapping for Inspection Using an UAV Assisted by a Total Station
2017-12-21
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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