Unmanned Aerial Vehicles (UAVs) equipped with visual sensors are widely used in area coverage missions. Guaranteeing full coverage coupled with camera footprint is one of the most challenging tasks, thus, in the presented novel approach a coverage path planner for the inspection of 2D areas is established, a 3 Degree of Freedom (DoF) camera movement is considered and the shortest path from the taking off to the landing station is generated, while covering the target area. The proposed scheme requires a priori information about the boundaries of the target area and generates the paths in an offline process. The efficacy and the overall performance of the proposed method has been experimentally evaluated in multiple indoor inspection experiments with convex and non convex areas. Furthermore, the image streams collected during the coverage tasks were post-processed using image stitching for obtaining a single overview of the covered scene. ; Validerad;2018;Nivå 2;2018-03-26 (andbra) ; Collaborative Aerial Robotic Workers, AEROWORKS


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    Title :

    2D visual area coverage and path planning coupled with camera footprints



    Publication date :

    2018-01-01


    Remarks:

    Scopus 2-s2.0-85044107984



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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