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On the use of Unmanned Aerial Vehicles for Autonomous Object Modeling
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-3111-3812
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2017 (English)In: 2017 European Conference on Mobile Robots, ECMR 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, article id 8098656Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we present an end to end object modeling pipeline for an unmanned aerial vehicle (UAV). We contribute a UAV system which is able to autonomously plan a path, navigate, acquire views of an object in the environment from which a model is built. The UAV does collision checking of the path and navigates only to those areas deemed safe. The data acquired is sent to a registration system which segments out the object of interest and fuses the data. We also show a qualitative comparison of our results with previous work.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. article id 8098656
Keywords [en]
Unmanned Aerial Vehicle (UAV), Object modeling, RGB-D
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-216994DOI: 10.1109/ECMR.2017.8098656Scopus ID: 2-s2.0-85040735190ISBN: 9781538610961 (print)OAI: oai:DiVA.org:kth-216994DiVA, id: diva2:1152924
Conference
2017 European Conference on Mobile Robots, ECMR 2017, Paris, France, 6 September 2017 through 8 September 2017
Note

QC 20171114

Available from: 2017-10-26 Created: 2017-10-26 Last updated: 2018-01-29Bibliographically approved

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