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Full-Text Articles in Engineering
Deep Visual Gravity Vector Detection For Unmanned Aircraft Attitude Estimation, Gary J. Ellingson, David Wingate, Tim Mclain
Deep Visual Gravity Vector Detection For Unmanned Aircraft Attitude Estimation, Gary J. Ellingson, David Wingate, Tim Mclain
Faculty Publications
This paper demonstrates a feasible method for using a deep neural network as a sensor to estimate the attitude of a flying vehicle using only flight video. A dataset of still images and associated gravity vectors was collected and used to perform supervised learning. The network builds on a previously trained network and was trained to be able to approximate the attitude of the camera with an average error of about 8 degrees. Flight test video was recorded and processed with a relatively simple visual odometry method. The aircraft attitude is then estimated with the visual odometry as the state …
Potential Benefits Of Combining Anomaly Detection With View Planning For Uav Infrastructure Modeling, R. Abraham Martin, Landen Blackburn, Joshua Pulsipher, Kevin W. Franke, John Hedengren
Potential Benefits Of Combining Anomaly Detection With View Planning For Uav Infrastructure Modeling, R. Abraham Martin, Landen Blackburn, Joshua Pulsipher, Kevin W. Franke, John Hedengren
Faculty Publications
This paper presents a novel method for UAV-based 3D modeling of large infrastructure objects, such as pipelines, canals and levees, that combines anomaly detection with automatic on-board 3D view planning. The study begins by assuming that anomaly detections are possible and focuses on quantifying the potential benefits of the combined method and the view planning algorithm. A simulated canal environment is constructed, and several simulated anomalies are created and marked. The algorithm is used to plan inspection flights for the anomaly locations, and simulated images from the flights are rendered and processed to construct 3D models of the locations of …