Chemical Engineering Commons^™

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 …