Detecting damage to bridges is essential for safety and financial reasons. We focus on inspections inside bridges and claim Unmanned Aerial Vehicles (UAVs) are ideally suited to assist inspections of hard-to-reach areas. Using UAVs in narrow indoor environments imposes constraints on the size of the UAV. While small UAVs are attractive for their agility and reduced risks associated with them, the need to carry cameras and sensors results in a lower bound on thrust and thus UAV and rotor size. Moreover, position and orientation control is particularly demanding inside bridges because satellite navigation is not available. To address these challenges, we implement a nano UAV that is capable of analyzing camera data for cracks with a machine learning model. UAV position is tracked with inertial measurement units, an optical flow, and a laser-based range sensor.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Inside Bridges: Autonomous Crack Inspection with Nano UAVs in GNSS-Denied Environments


    Contributors:


    Publication date :

    2024-12-12


    Size :

    3507496 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English






    Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination

    Schleich, Daniel / Beul, Marius / Quenzel, Jan et al. | IEEE | 2021


    Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination

    Schleich, Daniel / Beul, Marius / Quenzel, Jan et al. | ArXiv | 2021

    Free access