Détail du document
Identifiant
oai:arXiv.org:2410.10256
Sujet
Computer Science - RoboticsAuteur
Viswanathan, Vignesh Kottayam Sumathy, Vidya Kanellakis, Christoforos Nikolakopoulos, GeorgeCatégorie
Computer Science
Année
2024
Date de référencement
16/10/2024
Mots clés
open-pit proposed inspectionRésumé
In this work, we present an autonomous inspection framework for remote sensing tasks in active open-pit mines.
Specifically, the contributions are focused towards developing a methodology where an initial approximate operator-defined inspection plan is exploited by an online view-planner to predict an inspection path that can adapt to changes in the current mine-face morphology caused by route mining activities.
The proposed inspection framework leverages instantaneous 3D LiDAR and localization measurements coupled with modelled sensor footprint for view-planning satisfying desired viewing and photogrammetric conditions.
The efficacy of the proposed framework has been demonstrated through simulation in Feiring-Bruk open-pit mine environment and hardware-based outdoor experimental trials.
The video showcasing the performance of the proposed work can be found here: https://youtu.be/uWWbDfoBvFc ;Comment: Accepted for publication in IEEE ROBIO 2024
Viswanathan, Vignesh Kottayam,Sumathy, Vidya,Kanellakis, Christoforos,Nikolakopoulos, George, 2024, A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines
Choice Between Partial Trajectories: Disentangling Goals from Beliefs
agents models aligned based bootstrapped learning reward function model return choice choices partial
Adverse and serious adverse events incidence of pharmacological interventions for managing chronic and episodic migraine in adults: a systematic review
aes medications bta incidence migraine drugs disorders
