3 research outputs found
LiLO: Lightweight and low-bias LiDAR Odometry method based on spherical range image filtering
In unstructured outdoor environments, robotics requires accurate and
efficient odometry with low computational time. Existing low-bias LiDAR
odometry methods are often computationally expensive. To address this problem,
we present a lightweight LiDAR odometry method that converts unorganized point
cloud data into a spherical range image (SRI) and filters out surface, edge,
and ground features in the image plane. This substantially reduces computation
time and the required features for odometry estimation in LOAM-based
algorithms. Our odometry estimation method does not rely on global maps or loop
closure algorithms, which further reduces computational costs. Experimental
results generate a translation and rotation error of 0.86\% and 0.0036{\deg}/m
on the KITTI dataset with an average runtime of 78ms. In addition, we tested
the method with our data, obtaining an average closed-loop error of 0.8m and a
runtime of 27ms over eight loops covering 3.5Km.Comment: This paper is under review at the journal "Autonomous Robots"
(Springer
Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection
The photovoltaic (PV) industry is seeing a significant shift toward
large-scale solar plants, where traditional inspection methods have proven to
be time-consuming and costly. Currently, the predominant approach to PV
inspection using unmanned aerial vehicles (UAVs) is based on photogrammetry.
However, the photogrammetry approach presents limitations, such as an increased
amount of useless data during flights, potential issues related to image
resolution, and the detection process during high-altitude flights. In this
work, we develop a visual servoing control system applied to a UAV with dynamic
compensation using a nonlinear model predictive control (NMPC) capable of
accurately tracking the middle of the underlying PV array at different frontal
velocities and height constraints, ensuring the acquisition of detailed images
during low-altitude flights. The visual servoing controller is based on the
extraction of features using RGB-D images and the Kalman filter to estimate the
edges of the PV arrays. Furthermore, this work demonstrates the proposal in
both simulated and real-world environments using the commercial aerial vehicle
(DJI Matrice 100), with the purpose of showcasing the results of the
architecture. Our approach is available for the scientific community in:
https://github.com/EPVelasco/VisualServoing_NMPCComment: This paper is under review at the journal "IEEE Robotics and
Automation Letters
XVI International Congress of Control Electronics and Telecommunications: "Techno-scientific considerations for a post-pandemic world intensive in knowledge, innovation and sustainable local development"
Este título, sugestivo por los impactos durante la situación de la Covid 19 en el mundo, y que en Colombia lastimosamente han sido muy críticos, permiten asumir la obligada superación de tensiones sociales, políticas, y económicas; pero sobre todo científicas y tecnológicas.
Inicialmente, esto supone la existencia de una capacidad de la sociedad colombiana por recuperar su estado inicial después de que haya cesado la perturbación a la que fue sometida por la catastrófica pandemia, y superar ese anterior estado de cosas ya que se encontraban -y aún se encuentran- muchos problemas locales mal resueltos, medianamente resueltos, y muchos sin resolver: es decir, habrá que rediseñar y fortalecer una probada resiliencia social existente - producto del prolongado conflicto social colombiano superado parcialmente por un proceso de paz exitoso - desde la tecnociencia local; como lo indicaba Markus Brunnermeier - economista alemán y catedrático de economía de la Universidad de Princeton- en su libro The Resilient Society…La cuestión no es preveerlo todo sino poder reaccionar…aprender a recuperarse rápido.This title, suggestive of the impacts during the Covid 19 situation in the world, and which have unfortunately been very critical in Colombia, allows us to assume the obligatory overcoming of social, political, and economic tensions; but above all scientific and technological.
Initially, this supposes the existence of a capacity of Colombian society to recover its initial state after the disturbance to which it was subjected by the catastrophic pandemic has ceased, and to overcome that previous state of affairs since it was found -and still is find - many local problems poorly resolved, moderately resolved, and many unresolved: that is, an existing social resilience test will have to be redesigned and strengthened - product of the prolonged Colombian social conflict partially overcome by a successful peace process - from local technoscience; As Markus Brunnermeier - German economist and professor of economics at Princeton University - indicates in his book The Resilient Society...The question is not to foresee everything but to be able to react...learn to recover quickly.Bogot