2P1-O03 Automatic Visual Inspection System for Infrastructure Facilities using UAV : Automatic Inspection Path Planning from 3D Structure Models
Kotaro Asa, Yuki Funabora, Shinji Doki, Kae Doki · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2015
In order to realize automatic visual inspective systems for infrastructure facilities, this paper presents an automatic path planning method for UAV(Unmanned Airial Vehicle) based on 3D structure models. 3D model described by StL file format has normal vectors of faces. By using the information of normal vectors and positions of the faces, the inspection points are calculated. An inspection path including all inspection points is generated by searching algorithm. The proposed method is evaluated on computer simulation.