PAPER P16 · 2017
Autonomous Navigation and Mapping for Inspection of Penstocks and Tunnels With MAVs
Özaslan, T., Loianno, G., Keller, J., Taylor, C. J., Kumar, V., Wozencraft, J. M., Hood, T. — IEEE Robotics and Automation Letters 2(3):1740-1747
已读摘要 引用次数: openalex: 159 · crossref: 140 · semanticScholar: 142 (2026-10-22)
开发估计、控制、导航和建图方法，使搭载机载传感器的多旋翼能在没有 GPS 或外部相机的情况下自主巡检大坝压力钢管和隧道。压力钢管是黑暗、缺乏特征的广义圆柱体，仅靠测距传感器并不充分，相机在黑暗中也难以工作。融合 IMU、激光雷达和相机可得到 6 自由度位姿和速度；本文详述其中基于测距的部分，它仅假设广义圆柱模型并能容忍形状变化。该方法在田纳西州 Center Hill 大坝的压力钢管内得到验证。
主要发现
- 6-DOF pose and velocity estimated by fusing IMU, lidar and cameras
- Range-based estimator needs only a generalized-cylinder model and is robust to tunnel shape changes
- Authors report the first autonomous navigation and mapping in a penstock without external infrastructure (Center Hill Dam, TN)
局限
- Abstract only reviewed
- Estimator tailored to cylinder-like geometry; vision part described in earlier work
- Shared control (human in the loop) was part of the demonstration
在自动驾驶仪软件栈上开发之前需要确认什么，总结在在 PX4 上开发之前要确认什么（航拍指南内）。