Autonomous MAV-based Indoor Chimney Inspection with 3D Laser Localization and Textured Surface Reconstruction
Autonomous MAV-based Indoor Chimney Inspection with 3D Laser Localization and Textured Surface Reconstruction
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DOI：
10.1007/s10846-018-0791-y
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发表时间：
2019-02-01
影响因子：
3.3
通讯作者：
Behnke, Sven
中科院分区：
文献类型：
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作者：
Quenzel, Jan;Nieuwenhuisen, Matthias;Behnke, Sven
对工业烟囱和烟管的检查由于生产停工而导致成本高昂，并由于高温和有毒气体而对人类工人的健康造成风险。我们的目标是用多旋翼微型飞行器加速和自动化这一过程。为了获得高质量的传感器数据，在烟囱壁面附近飞行是不可避免的，这对良好的定位和快速可靠的控制提出了很高的要求。本文提出了一种基于小型轻型飞行平台的烟囱综合检测系统，该系统非常适合在狭窄空间内机动。为了导航和避障，它配备了一个多模态传感器装置，包括一个轻型旋转3D激光扫描仪、用于视觉里程计和高分辨率表面检测的立体摄像头。我们在联合国教科文组织世界遗产地的一个废弃的工业烟囱中测试了我们的系统，并展示了自动飞行和烟囱表面重建的结果。
Inspection of industrial chimneys and smoke pipes induces high costs due to production downtimes and imposes risks to the health of human workers due to high temperatures and toxic gases. We aim at speeding up and automating this process with multicopter micro aerial vehicles. To acquire high quality sensor data, flying close to the walls of the chimney is inevitable, imposing high demands on good localization and fast and reliable control. In this paper, we present an integrated chimney inspection system based on a small lightweight flying platform, well-suited for maneuvering in narrow space. For navigation and obstacle avoidance, it is equipped with a multimodal sensor setup including a lightweight rotating 3D laser scanner, stereo cameras for visual odometry and high-resolution surface inspection. We tested our system in a decommissioned industrial chimney at the Zollverein UNESCO world heritage site and present results from autonomous flights and reconstructions of the chimney surface.