ドローンによる建物検査のためのクラスタリングベースの新たな視点計画手法
A New Clustering-based View Planning Method for Building Inspection with Drone
スペクトラルクラスタリングと局所ポテンシャル場法、ハイパーヒューリスティックアルゴリズムを組み合わせ、ドローンによる建物検査の視点計画を効率的に行う手法を提案した。
著者: Yongshuai Zheng, Guoliang Liu, Yan Ding, Guohui Tian
分類: cs.CV, cs.RO
原文アブストラクト
With the rapid development of drone technology, the application of drones equipped with visual sensors for building inspection and surveillance has attracted much attention. View planning aims to find a set of near-optimal viewpoints for vision-related tasks to achieve the vision coverage goal. This paper proposes a new clustering-based two-step computational method using spectral clustering, local potential field method, and hyper-heuristic algorithm to find near-optimal views to cover the target building surface. In the first step, the proposed method generates candidate viewpoints based on spectral clustering and corrects the positions of candidate viewpoints based on our newly proposed local potential field method. In the second step, the optimization problem is converted into a Set Covering Problem (SCP), and the optimal viewpoint subset is solved using our proposed hyper-heuristic algorithm. Experimental results show that the proposed method is able to obtain better solutions with fewer viewpoints and higher coverage.
