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LOCALIZATION OF A UAV FOR THE INSPECTION OF BRIDGES BY USING VISION AND INERTIAL SENSORS

LOCALIZATION OF A UAV FOR THE INSPECTION OF BRIDGES BY USING VISION AND INERTIAL SENSORS. Najib METNI François DERKX Jean-Luc SORIN. PROBLEM FORMULATION : To localize the aerial vehicle in the 3D environment for cracks and defects visualization on bridges. OBJECTIVES:

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LOCALIZATION OF A UAV FOR THE INSPECTION OF BRIDGES BY USING VISION AND INERTIAL SENSORS

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  1. LOCALIZATION OF A UAV FOR THE INSPECTION OF BRIDGESBY USING VISION AND INERTIAL SENSORS Najib METNI François DERKX Jean-Luc SORIN

  2. PROBLEM FORMULATION: To localize the aerial vehicle in the 3D environment for cracks and defects visualization on bridges. OBJECTIVES: Scanning the civil structures to detect defects and cracks. • - To automate the tasks to be realized. • To reduce necessary logistics (time, security,..). • - To avoid the closing the traffic on the bridge. DESCRIPTION OF THE UAV (SurveyCopter) Used Sensors: INS (Inertial Navigation Sensor), GPS, Camera. The Ground Station COPTER 1B

  3. Normal inspection by the means of a Footbridge: First Experiment on the “Viaduc de Saint-Cloud”: • Inspection feasibility trial of an manually controlled • UAV helicopter: -- Image of a bridge defect and its corresponding treated image:

  4. Trajectory Optimization Non Linear Estimator Data Fusion from INS and Camera:

  5. Camera Modelisation: Homography Matrix:

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