Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision

An algorithm designed for analysis and understanding a 3D urban-type environment by an autonomous flying agent, equipped only with a monocular vision, is presented. The algorithm is hierarchical and is based on the structural representation of the analyzed scene. Firstly, the robot observes the scen...

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Autores principales:	Andrzej Bielecki, Piotr Śmigielski
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	autonomous flying agents urban-type scene 3D scene representation scene analysis Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/4b426b7d91b845f3b438b6bf0b6cd073
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id	oai:doaj.org-article:4b426b7d91b845f3b438b6bf0b6cd073
record_format	dspace
spelling	oai:doaj.org-article:4b426b7d91b845f3b438b6bf0b6cd0732021-11-11T19:13:53ZThree-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision10.3390/s212172701424-8220https://doaj.org/article/4b426b7d91b845f3b438b6bf0b6cd0732021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7270https://doaj.org/toc/1424-8220An algorithm designed for analysis and understanding a 3D urban-type environment by an autonomous flying agent, equipped only with a monocular vision, is presented. The algorithm is hierarchical and is based on the structural representation of the analyzed scene. Firstly, the robot observes the scene from a high altitude to build a 2D representation of a single object and a graph representation of the 2D scene. The 3D representation of each object arises as a consequence of the robot’s actions, as a result of which it projects the object’s solid on different planes. The robot assigns the obtained representations to the corresponding vertex of the created graph. The algorithm was tested by using the embodied robot operating on the real scene. The tests showed that the robot equipped with the algorithm was able not only to localize the predefined object, but also to perform safe, collision-free maneuvers close to the structures in the scene.Andrzej BieleckiPiotr ŚmigielskiMDPI AGarticleautonomous flying agentsurban-type scene3D scene representationscene analysisChemical technologyTP1-1185ENSensors, Vol 21, Iss 7270, p 7270 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	autonomous flying agents urban-type scene 3D scene representation scene analysis Chemical technology TP1-1185
spellingShingle	autonomous flying agents urban-type scene 3D scene representation scene analysis Chemical technology TP1-1185 Andrzej Bielecki Piotr Śmigielski Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision
description	An algorithm designed for analysis and understanding a 3D urban-type environment by an autonomous flying agent, equipped only with a monocular vision, is presented. The algorithm is hierarchical and is based on the structural representation of the analyzed scene. Firstly, the robot observes the scene from a high altitude to build a 2D representation of a single object and a graph representation of the 2D scene. The 3D representation of each object arises as a consequence of the robot’s actions, as a result of which it projects the object’s solid on different planes. The robot assigns the obtained representations to the corresponding vertex of the created graph. The algorithm was tested by using the embodied robot operating on the real scene. The tests showed that the robot equipped with the algorithm was able not only to localize the predefined object, but also to perform safe, collision-free maneuvers close to the structures in the scene.
format	article
author	Andrzej Bielecki Piotr Śmigielski
author_facet	Andrzej Bielecki Piotr Śmigielski
author_sort	Andrzej Bielecki
title	Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision
title_short	Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision
title_full	Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision
title_fullStr	Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision
title_full_unstemmed	Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision
title_sort	three-dimensional outdoor analysis of single synthetic building structures by an unmanned flying agent using monocular vision
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/4b426b7d91b845f3b438b6bf0b6cd073
work_keys_str_mv	AT andrzejbielecki threedimensionaloutdooranalysisofsinglesyntheticbuildingstructuresbyanunmannedflyingagentusingmonocularvision AT piotrsmigielski threedimensionaloutdooranalysisofsinglesyntheticbuildingstructuresbyanunmannedflyingagentusingmonocularvision
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Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision

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