Matching CAD Model and Image Features for Robot Navigation and Inspection of an Aircraft

Igor Jovančević, Ilisio Viana, Jean-José Orteu, Thierry Sentenac, Stanislas Larnier

Abstract

This paper focuses on the navigation of a moving robot equipped with cameras, moving around an aircraft to perform inspection of different types of items (probes, doors, etc.). Matching CAD model and image features is useful to provide meaningful features for localization and inspection tasks. In our approach two primitive sets are matched using a similarity function. The similarity scores are injected in the edges of a bipartite graph. A best-match search procedure in bipartite graph guarantees the uniqueness of the match solution. The method provides good matching results even when the location of the robot with respect to the aircraft is badly estimated. Inspection approaches on static ports and air inlet vent are presented.

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Paper Citation


in Harvard Style

Jovančević I., Viana I., Orteu J., Sentenac T. and Larnier S. (2016). Matching CAD Model and Image Features for Robot Navigation and Inspection of an Aircraft . In Proceedings of the 5th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-173-1, pages 359-366. DOI: 10.5220/0005756303590366


in Bibtex Style

@conference{icpram16,
author={Igor Jovančević and Ilisio Viana and Jean-José Orteu and Thierry Sentenac and Stanislas Larnier},
title={Matching CAD Model and Image Features for Robot Navigation and Inspection of an Aircraft},
booktitle={Proceedings of the 5th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2016},
pages={359-366},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005756303590366},
isbn={978-989-758-173-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 5th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - Matching CAD Model and Image Features for Robot Navigation and Inspection of an Aircraft
SN - 978-989-758-173-1
AU - Jovančević I.
AU - Viana I.
AU - Orteu J.
AU - Sentenac T.
AU - Larnier S.
PY - 2016
SP - 359
EP - 366
DO - 10.5220/0005756303590366