Abstract
This paper presents a novel approach to the navi-
gation of Unmanned Aerial Vehicles (UAV) for the autonomous
inspection of wind turbines. Firstly, a Single Shot Detector
(SSD) network is trained to detect wind turbines and their
subcomponents. Then, an optimized template matching algorithm
is used to estimate the distance between the UAV and the wind
turbine, using as the template, the SSD bounding box prediction
on the left image of a stereo camera. Lastly, an Extended Kalman
Filter (EKF) estimates the position of the wind turbine’s hub. The
EKF is designed to compensate for CNN’s latency while sending
setpoints to the controller of the UAV
gation of Unmanned Aerial Vehicles (UAV) for the autonomous
inspection of wind turbines. Firstly, a Single Shot Detector
(SSD) network is trained to detect wind turbines and their
subcomponents. Then, an optimized template matching algorithm
is used to estimate the distance between the UAV and the wind
turbine, using as the template, the SSD bounding box prediction
on the left image of a stereo camera. Lastly, an Extended Kalman
Filter (EKF) estimates the position of the wind turbine’s hub. The
EKF is designed to compensate for CNN’s latency while sending
setpoints to the controller of the UAV
Original language | English |
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Title of host publication | 9th 2023 International Conference on Control, Decision and Information Technologies, CoDIT 2023 |
Number of pages | 6 |
Publisher | IEEE |
Publication date | Oct 2023 |
Pages | 1343 - 1348 |
Article number | 10284278 |
ISBN (Print) | 979-8-3503-1141-9 |
ISBN (Electronic) | 979-8-3503-1140-2 |
DOIs | |
Publication status | Published - Oct 2023 |
Event | 9th International Conference on Control, Decision and Information Technologies (CoDIT) - Rome, Italy Duration: 3 Jul 2023 → 6 Jul 2023 https://codit2023.com/ |
Conference
Conference | 9th International Conference on Control, Decision and Information Technologies (CoDIT) |
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Country/Territory | Italy |
City | Rome |
Period | 03/07/2023 → 06/07/2023 |
Internet address |
Series | International Conference on Control, Decision and Information Technologies (CoDIT) |
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ISSN | 2576-3555 |
Keywords
- Visual Servoing Convolutional Neural Network Estimation Kalman filter