ステレオ熱画像を用いたMAVによる電力線予備検査の応用
An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs
小型ドローンにステレオ熱画像センサを搭載し、電力設備の過熱箇所を検出して位置と損傷範囲を推定する予備検査手法を提案し、シミュレーションと実飛行で有効性を示した。
著者: Lyubomyr Demkiv, Massimiliano Ruffo, Giuseppe Silano, Jan Bednar, Martin Saska
分類: cs.RO
原文アブストラクト
An application of stereo thermal vision to perform preliminary inspection operations of electrical power lines by a particular class of small Unmanned Aerial Vehicles (UAVs), aka Micro Unmanned Aerial Vehicles (MAVs), is presented in this paper. The proposed hardware and software setup allows the detection of overheated power equipment, one of the major causes of power outages. The stereo vision complements the GPS information by finely detecting the potential source of damage while also providing a measure of the harm extension. The reduced sizes and the light weight of the vehicle enable to survey areas otherwise difficult to access with standard UAVs. Gazebo simulations and real flight experiments demonstrate the feasibility and effectiveness of the proposed setup.
