Robust Visual Localization of a UAV Over a Pipe-Rack Based on the Lie Group SE(3)

Vincenzo Lippiello; Jonathan Cacace

RA-L 202213 citations

Robust Visual Localization of a UAV Over a Pipe-Rack Based on the Lie Group SE(3)

Abstract

Visual inspection and maintenance ofindustrialpipes using robots represent an emerging application in Oil & Gas and refinery facilities. In this domain, we present a pose tracking system based on a single camera sensor to localize an unmanned aerial vehicle operating over a pipe-rack to carry out inspection activities. We propose a unified framework based on the Lie group SE(3) which allows the simultaneous estimation of the pose of the UAV along with some parameters of the pipe-rack model. Numerical simulations have been performed to demonstrate the effectiveness of the proposed approach.

BibTeX

@inproceedings{ral2022_robustvisualloca,
  title = {Robust Visual Localization of a UAV Over a Pipe-Rack Based on the Lie Group SE(3)},
  author = {Vincenzo Lippiello and Jonathan Cacace},
  booktitle = {RA-L 2022},
  year = {2022}
}