Please wait, while we are loading the content...
Please wait, while we are loading the content...
Content Provider | IET Digital Library |
---|---|
Author | Kanellakis, Christoforos Mansouri, Sina Sharif Castaño, Miguel Karvelis, Petros Kominiak, Dariusz Nikolakopoulos, G. |
Abstract | Degraded Subterranean environments are an attractive case for miniature aerial vehicles, since there is a constant need to increase the safety operations in underground mines. The starting point for integrating aerial vehicles in the mining process is the capability to reliably navigate along tunnels. Inspired by recent advancements, this paper presents a collection of different, experimentally verified, methods tackling the problem of MAVs heading regulation while navigating in dark and textureless tunnel areas. More specifically, four different methods are presented in this work with the common goal to identify open space in the tunnel and align the MAV heading using either visual sensor in methods a) single image depth estimation, b) darkness contour detection, c) Convolutional Neural Network (CNN) regression and 2D Lidar sensor in method d) range geometry. For the works a)-c) the dark scene in the middle of the tunnel is considered as open space and is processed and converted to yaw rate command, while d) examines the geometry of the range measurements to calculate the yaw rate command. Experimental results from real underground tunnel demonstrate the performance of the methods in the field, while setting the ground for further developments in the aerial robotics community. |
Starting Page | 2020 |
Ending Page | 2027 |
Page Count | 8 |
ISSN | 17519659 |
Volume Number | 14 |
e-ISSN | 17519667 |
Issue Number | Issue 10, Aug (2020) |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-ipr/14/10 |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-ipr.2019.1423 |
Journal | IET Image Processing |
Publisher Date | 2020-06-03 |
Access Restriction | Open |
Rights Holder | © The Institution of Engineering and Technology |
Subject Keyword | 2D Lidar Sensor Aerial Robotics Community Aerospace Control Aerospace Robotics Aircraft Control Align The MAV Heading Application Breakthroughs Attractive Case Computer Vision And Image Processing Technique Convolutional Neural Network Regression Dark Scene Dark Tunnel Areas Degraded Subterranean Environments Flying Capabilities Forefront Ground Robots Image Sonsor MAV Heading Correction MAVs Heading Regulation Miniature Aerial Vehicle Mining Process Mobile Robots Neural Nets Open Space Optical Radar Optical, Image And Video Signal Processing Remotely Operated Vehicle Safety Operation Sensor Sensor Data Single Image Depth Estimation Textureless Tunnel Areas Traversability Issues Underground Mines Underground Tunnel Visual Sensor Yaw Rate Command |
Content Type | Text |
Resource Type | Article |
Subject | Signal Processing Electrical and Electronic Engineering Computer Vision and Pattern Recognition Software |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
Sl. | Authority | Responsibilities | Communication Details |
---|---|---|---|
1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
Loading...
|