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WorldCist'17 - 5th World Conference on Information Systems and Technologies

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VBII-UAV: Vision-Based Infrastructure Inspection-UAV

Unmanned Aerial Vehicles (UAV) have the capabilities to
undertake tasks in remote, dangerous and dull situations. One of these situations is the infrastructure inspection, at which, the using of the UAV decreases the risk and the operation time of the task comparing to a human inspector. Therefore, This paper presents a small vision-based UAV with the capability of inspection tasks of a civil and industrial in-frastructure. The presented system is divided into three main algorithms; Depth-Color image correlation, Plane segmentation and distance estima-tion and Visual servoing. The system has been validated with real ight
tests, and the obtained results show the accuracy of the system in both inspection measurements and the UAV maneuver controlling.

Author(s):

Abdulla Al Kaff    
Universidad Carlos III de Madrid
Spain

Francisco Miguel Moreno    
Universidad Carlos III de Madrid
Spain

Luis Javier San Jose    
Universidad Carlos III de Madrid
Spain

Fernendo Garcia    
Universidad Carlos III de Madrid
Spain

David Martin    
Universidad Carlos III de Madrid
Spain

Arturo de la Escalera    
Universidad Carlos III de Madrid
Spain

Alberto Nieva    
COPISA Integrated Services
Spain

Jose Luis Meana Garcia    
COPISA Integrated Services
Spain

 

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