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

• المؤلفون الرئيسيون: Lyu, Yang, Cao, Muqing, Yuan, Shenghai, Xie, Lihua
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2025
• الموضوعات: Computer and Information Science; Building façade inspection; Model predictive control; Nonlinear observer; Stability analysis
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/182129

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...