Evaluation of the Computational Effort of Path-Planning Method for Automatic Visual Measurement System using UAV
Kotaro Asa, Yuki Funabora, Shinji Doki, Kae Doki · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2018
The authors proposed the path-planning method for automatic visual measurement systems using unmanned aerial vehicles (UAVs). In this article, the computational effort of the proposed method is evaluated. This method calculates the measuring positions; the waypoints that an UAV travels to gather the accurate data of the target efficiently. The computational effort is estimated at O(N3) because k-means++ method is used for classification of N triangular polygons those constitute the 3D model of the measurement target iteratively. The validity of this estimation is presented through simulations on the assumption that an UAV measures several targets. If a measurement target is large-scale, the measuring positions are calculated in real-time by division of the 3D model.