loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Marcus Davi Forte 1 ; Polycarpo Souza Neto 2 ; George André Pereira Thé 2 and Fabricio Gonzalez Nogueira 1

Affiliations: 1 Department of Electrical Engineering, Federal University of Ceara, Fortaleza CEP 60455-970, Brazil ; 2 Department of Teleinformatic Engineering, Federal University of Ceara, Fortaleza CEP 60455-970, Brazil

Keyword(s): Unmanned Aerial Vehicle, Localization, Laser Scanning, Generalized Iterative Closest Point, Fast Point Cloud Registration, Stockpile Mapping.

Abstract: This paper presents an online localization estimation of an Unmanned Aerial Vehicle (UAV) by fusing data provided by the on-board flight controller and a LiDAR (Light Detection and Ranging) carried by the UAV. Pose estimations solely obtained by the UAV are often corrupted by noise or instrumentation limitation, which may lead to erroneous mapping of the environment. To correct potential estimation errors, the LiDAR scans are assembled into a local point cloud history and matched against a partial map of the environment using a proposed point cloud registration method, similar to a Simultaneous Localization and Mapping (SLAM) approach. The resulting correction is incorporated into the estimation of the UAV using an asynchronous Kalman Filter implementation. For this work, only the altitude errors are corrected by the registration. We conducted tests on a local thermal power plant which contained three large coal stockpiles. We chose one of them as our Region of Interest (ROI).

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 52.14.27.122

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Forte, M.; Neto, P.; Thé, G. and Nogueira, F. (2021). Altitude Correction of an UAV Assisted by Point Cloud Registration of LiDAR Scans. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 485-492. DOI: 10.5220/0010583004850492

@conference{icinco21,
author={Marcus Davi Forte. and Polycarpo Souza Neto. and George André Pereira Thé. and Fabricio Gonzalez Nogueira.},
title={Altitude Correction of an UAV Assisted by Point Cloud Registration of LiDAR Scans},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2021},
pages={485-492},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010583004850492},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Altitude Correction of an UAV Assisted by Point Cloud Registration of LiDAR Scans
SN - 978-989-758-522-7
IS - 2184-2809
AU - Forte, M.
AU - Neto, P.
AU - Thé, G.
AU - Nogueira, F.
PY - 2021
SP - 485
EP - 492
DO - 10.5220/0010583004850492
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic