Simultaneous localization and mapping based real-time inter-row tree tracking technique for unmanned aerial vehicle

AbstractThe paper describes a problem and an algorithm for simultaneous localization and mapping (SLAM) for an unmanned aerial vehicle (UAV). The algorithm developed by the authors estimates the flight trajectory and builds a map of the terrain below the UAV. As a tool for estimating the UAV position and other parameters of flight, a particle filter was applied. The proposed algorithm was tested and analyzed by simulations and the paper presents a simulator developed by the authors and used for SLAM testing purposes. Chosen simulation results, including maps and UAV trajectories constructed by the SLAM algorithm are included in the paper.

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Fast 3D Map Reconstruction Using Dense Visual Simultaneous Localization and Mapping Based on Unmanned Aerial Vehicle

IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium ◽

10.1109/igarss.2018.8517796 ◽

2018 ◽

Cited By ~ 2

Author(s):

Siyuan Peng ◽

Fang Huang ◽

Jian Tao ◽

Bo Tie ◽

Jun Lu ◽

...

Keyword(s):

Unmanned Aerial Vehicle ◽

Simultaneous Localization And Mapping ◽

Localization And Mapping ◽

Aerial Vehicle

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Real-Time Expanded Field-of-View for Minimally Invasive Surgery Using Multi-Camera Visual Simultaneous Localization and Mapping

Sensors ◽

10.3390/s21062106 ◽

2021 ◽

Vol 21 (6) ◽

pp. 2106

Author(s):

Ahmed Afifi ◽

Chisato Takada ◽

Yuichiro Yoshimura ◽

Toshiya Nakaguchi

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Real Time ◽

Invasive Surgery ◽

Simultaneous Localization And Mapping ◽

Field Of View ◽

Time Dynamic ◽

Matrix Estimation ◽

Localization And Mapping

Minimally invasive surgery is widely used because of its tremendous benefits to the patient. However, there are some challenges that surgeons face in this type of surgery, the most important of which is the narrow field of view. Therefore, we propose an approach to expand the field of view for minimally invasive surgery to enhance surgeons’ experience. It combines multiple views in real-time to produce a dynamic expanded view. The proposed approach extends the monocular Oriented features from an accelerated segment test and Rotated Binary robust independent elementary features—Simultaneous Localization And Mapping (ORB-SLAM) to work with a multi-camera setup. The ORB-SLAM’s three parallel threads, namely tracking, mapping and loop closing, are performed for each camera and new threads are added to calculate the relative cameras’ pose and to construct the expanded view. A new algorithm for estimating the optimal inter-camera correspondence matrix from a set of corresponding 3D map points is presented. This optimal transformation is then used to produce the final view. The proposed approach was evaluated using both human models and in vivo data. The evaluation results of the proposed correspondence matrix estimation algorithm prove its ability to reduce the error and to produce an accurate transformation. The results also show that when other approaches fail, the proposed approach can produce an expanded view. In this work, a real-time dynamic field-of-view expansion approach that can work in all situations regardless of images’ overlap is proposed. It outperforms the previous approaches and can also work at 21 fps.

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Pemanfaatan Metode Fotogrametri untuk Pengukuran Garis Pantai dan Identifikasi Objek-Objek Tematik dengan Menggunakan Wahana Uav (Unmanned Aerial Vehicle) (Studi Kasus Pengukuran Garis Pantai di Pangkalan TNI AL Pondok Dayung

Jurnal Chart Datum ◽

10.37875/chartdatum.v5i1.147 ◽

2020 ◽

Vol 5 (1) ◽

pp. 71-84

Author(s):

Adhyta Harfan ◽

Dipo Yudhatama ◽

Imam Bachrodin

Keyword(s):

Real Time ◽

Unmanned Aerial Vehicle ◽

Control Point ◽

Ground Control ◽

Ground Control Point ◽

Real Time Kinematic ◽

Aerial Vehicle

Metode Fotogrametri telah banyak digunakan dalam survei dan pemetaan. Seiring dengan kemajuan ilmu pengetahuan dan teknologi, metode fotogrametri saat ini berbasiskan pesawat tanpa awak atau yang lebih dikenal dengan UAV (Unmanned Aerial Vehicle). Kelebihan metode fotogrametri berbasiskan UAV untuk pengukuran garis pantai adalah memiliki resolusi spasial yang sangat tinggi dan dapat menjagkau daerah-daerah yang sulit dan berbahaya. Di samping itu juga dapat memberikan data foto udara terkini dengan sekala detail. Dalam penelitian ini membandingkan ketelitian horisontal antara hasil pengukuran garis pantai menggunakan metode fotogrametri berbasiskan UAV secara rektifikasi dengan GCP (Ground Control Point) maupun secara PPK (Post Processed Kinematic) dengan pengukuran garis pantai metode GNSS RTK (Real Time Kinematic). Hasil perhitungan ketelitian horisontal mengacu pada standar publikasi IHO S-44 tentang pengukuran garis pantai. Pemotretan dilakukan dengan ketinggian terbang 180 m, dengan tampalan depan dan samping 80%. Hasil perhitungan ketelitian horisontal foto udara terektifikasi 5 GCP, foto udara PPK dan foto udara PPK terektifikasi 1 GCP terhadap pengukuran garis pantai dengan metode GNSS RTK diperoleh nilai standar deviasi (σ) dan 95% selang kepercayaan (CI95%) masing-masing sebagai berikut: σ5gcp=10,989 cm dengan CI95% 16.8 cm < μ < 21.2 cm , σppk=26,066 cm dengan CI95% 26.5 cm < μ < 37 cm dan σppk1gcp=10,378 cm dengan CI95% 15.6 cm < μ < 19.8 cm. Kemudian terdapat 10 objek tematik berdasarkan Peta Laut Nomor 1 yang dapat diinterpretasi pada hasil orthomosaic foto udara.

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Utilizing drone technology in the civil engineering

Selected Scientific Papers - Journal of Civil Engineering ◽

10.1515/sspjce-2019-0003 ◽

2019 ◽

Vol 14 (1) ◽

pp. 27-37

Author(s):

Matúš Tkáč ◽

Peter Mésároš

Keyword(s):

Real Time ◽

Unmanned Aerial Vehicle ◽

Civil Engineering ◽

Aerial Images ◽

General Overview ◽

Aerial Photogrammetry ◽

Different Types ◽

Aerial Vehicle

Abstract An unmanned aerial vehicle (UAVs), also known as drone technology, is used for different types of application in the civil engineering. Drones as a tools that increase communication between construction participants, improves site safety, uses topographic measurements of large areas, with using principles of aerial photogrammetry is possible to create buildings aerial surveying, bridges, roads, highways, saves project time and costs, etc. The use of UAVs in the civil engineering can brings many benefits; creating real-time aerial images from the building objects, overviews reveal assets and challenges, as well as the broad lay of the land, operators can share the imaging with personnel on site, in headquarters and with sub-contractors, planners can meet virtually to discuss project timing, equipment needs and challenges presented by the terrain. The aim of this contribution is to create a general overview of the use of UAVs in the civil engineering. The contribution also contains types of UAVs used for construction purposes, their advantages and also disadvantages.

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