论文标题
自动空中机器人测量和映射，并应用于建筑操作
Autonomous Aerial Robotic Surveying and Mapping with Application to Construction Operations
论文作者
论文摘要
在本文中，我们介绍了能够自主检查，测量，全面的多模式映射和库存跟踪具有高度系统性的施工站点的飞行机器人系统的概述。机器人系统可以运行，假设没有对环境的先验知识或通过整合其先验模型。在第一种情况下，提供了自主探索，该探索返回了高保真度$ 3 \ textrm {d} $地图与颜色和热视觉信息相关。在第二种情况下，结构的先前模型可用于提供优化和重复的覆盖路径。该机器人自动提供其映射结果，同时能够检测和本地化感兴趣的对象，从而支持库存跟踪任务。该系统已在环境集合中进行了验证，并已在与公共住房有关的建筑项目中进行了测试。
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high degree of systematicity. The robotic system can operate assuming either no prior knowledge of the environment or by integrating a prior model of it. In the first case, autonomous exploration is provided which returns a high fidelity $3\textrm{D}$ map associated with color and thermal vision information. In the second case, the prior model of the structure can be used to provide optimized and repetitive coverage paths. The robot delivers its mapping result autonomously, while simultaneously being able to detect and localize objects of interest thus supporting inventory tracking tasks. The system has been field verified in a collection of environments and has been tested inside a construction project related to public housing.
