Distance Measurement for UAVs in Deep Hazardous Tunnels
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866912022181969920 |
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| author | Choudhary, Vishal Gupta, Shashi Kant Foong, Shaohui Lim, Hock Beng |
| author_facet | Choudhary, Vishal Gupta, Shashi Kant Foong, Shaohui Lim, Hock Beng |
| contents | The localization of Unmanned aerial vehicles (UAVs) in deep tunnels is extremely challenging due to their inaccessibility and hazardous environment. Conventional outdoor localization techniques (such as using GPS) and indoor localization techniques (such as those based on WiFi, Infrared (IR), Ultra-Wideband, etc.) do not work in deep tunnels. We are developing a UAV-based system for the inspection of defects in the Deep Tunnel Sewerage System (DTSS) in Singapore. To enable the UAV localization in the DTSS, we have developed a distance measurement module based on the optical flow technique. However, the standard optical flow technique does not work well in tunnels with poor lighting and a lack of features. Thus, we have developed an enhanced optical flow algorithm with prediction, to improve the distance measurement for UAVs in deep hazardous tunnels. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2409_07160 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distance Measurement for UAVs in Deep Hazardous Tunnels Choudhary, Vishal Gupta, Shashi Kant Foong, Shaohui Lim, Hock Beng Robotics The localization of Unmanned aerial vehicles (UAVs) in deep tunnels is extremely challenging due to their inaccessibility and hazardous environment. Conventional outdoor localization techniques (such as using GPS) and indoor localization techniques (such as those based on WiFi, Infrared (IR), Ultra-Wideband, etc.) do not work in deep tunnels. We are developing a UAV-based system for the inspection of defects in the Deep Tunnel Sewerage System (DTSS) in Singapore. To enable the UAV localization in the DTSS, we have developed a distance measurement module based on the optical flow technique. However, the standard optical flow technique does not work well in tunnels with poor lighting and a lack of features. Thus, we have developed an enhanced optical flow algorithm with prediction, to improve the distance measurement for UAVs in deep hazardous tunnels. |
| title | Distance Measurement for UAVs in Deep Hazardous Tunnels |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.07160 |