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Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments

Authors: Ramon-Soria, P.; Gomez-Tamm, A.E.; Garcia-Rubiales, F.J.; Arrue, B.C.; Ollero, A.;

Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments

Abstract

The use of unmanned aerial systems for industrial applications has evolved considerably in recent years. This paper presents an aerial system capable of perching autonomously on pipes for inspection and maintenance in industrial environments. The target pipe to perch on is detected using a visual algorithm based on a semantic convolutional neuronal network. The information from a color camera is used to segment the image. Then, the segmentation information is fused with a depth image to estimate the pipe’s pose, so that the pose of the robot can be controlled relative to it. The aerial robot is equipped with a soft landing system that robustly attaches it to the pipe. The article presents the complete development of the system. Experimental results performed in outdoor environments are shown.

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Microsoft Academic Graph classification: Computer science business.industry Robot Segmentation Computer vision Artificial intelligence business

  • BIP!
    Impact byBIP!
    citations
    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    18
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    Top 10%
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    Average
    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    Top 10%
  • citations
    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    18
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    Top 10%
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    Average
    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    Top 10%
    Powered byBIP!BIP!
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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
18
Top 10%
Average
Top 10%
Funded by
EC| HYFLIERS
Project
HYFLIERS
HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection
  • Funder: European Commission (EC)
  • Project Code: 779411
  • Funding stream: H2020 | RIA
Validated by funder
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