Vision-based plane estimation and following for building inspection with autonomous UAV

• Main Authors: Lyu, Yang, Cao, Muqing, Yuan, Shenghai, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2025
• Subjects: Computer and Information Science; Building façade inspection; Model predictive control; Nonlinear observer; Stability analysis
• Online Access: https://hdl.handle.net/10356/182129
• Institution: Nanyang Technological University

In this article, we focus on enabling the autonomous perception and control of a small unmanned aerial vehicle (UAV) for a façade inspection task. Specifically, we consider the perception as a planar object pose estimation problem by simplifying the building structure as a concatenation of plane...