Automatic interpretation of unordered point cloud data for UAV navigation in construction

Phung, MD; Quach, CH; Chu, DT; Nguyen, NQ; Dinh, TH; Ha, QP

Automatic interpretation of unordered point cloud data for UAV navigation in construction

Phung, MD

Quach, CH Chu, DT Nguyen, NQ Dinh, TH Ha, QP

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Publication Type:: Conference Proceeding
Citation:: 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, 2017
Issue Date:: 2017-01-31

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Field	Value	Language
dc.contributor.author	Phung, MD https://orcid.org/0000-0002-8870-5114	en_US
dc.contributor.author	Quach, CH	en_US
dc.contributor.author	Chu, DT	en_US
dc.contributor.author	Nguyen, NQ	en_US
dc.contributor.author	Dinh, TH	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2017-01-31	en_US
dc.identifier.citation	2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, 2017	en_US
dc.identifier.isbn	9781509035496	en_US
dc.identifier.uri	http://hdl.handle.net/10453/89625
dc.description.abstract	© 2016 IEEE. The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes data recorded by two 2D laser scanners, orthogonally mounted on the UAV, and an inertial measurement unit (IMU). To achieve the goal, algorithms are developed to process the data collected. They are separated into three major groups: (i) the data registration and filtering to generate a 3D model of the structure and control the density of point clouds for data completeness enhancement; (ii) the surface and obstacle detection to assist the UAV in monitoring tasks; and (iii) the waypoint generation to set the flight path. Experiments on different data sets show that the developed system is able to reconstruct a 3D point cloud of the structure, extract its surfaces and objects, and generate waypoints for the UAV to accomplish inspection tasks.	en_US
dc.relation.ispartof	2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016	en_US
dc.relation.isbasedon	10.1109/ICARCV.2016.7838683	en_US
dc.title	Automatic interpretation of unordered point cloud data for UAV navigation in construction	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

© 2016 IEEE. The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes data recorded by two 2D laser scanners, orthogonally mounted on the UAV, and an inertial measurement unit (IMU). To achieve the goal, algorithms are developed to process the data collected. They are separated into three major groups: (i) the data registration and filtering to generate a 3D model of the structure and control the density of point clouds for data completeness enhancement; (ii) the surface and obstacle detection to assist the UAV in monitoring tasks; and (iii) the waypoint generation to set the flight path. Experiments on different data sets show that the developed system is able to reconstruct a 3D point cloud of the structure, extract its surfaces and objects, and generate waypoints for the UAV to accomplish inspection tasks.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/89625