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PEGASUS: Autonomous Inspection of Overhead Power Lines using an Unmanned Aerial Vehicle
PEGASUS: 3D Path Planning
<p><img src="http://www.icg.tu-graz.ac.at/Members/wendel/images/path_planning.jpg" align="right" /> <b>Goal: </b><br /> The goal of PEGASUS is the autonomous inspection of overhead power lines using an unmanned aerial vehicle. One of the requirements for visual navigation within the vicinity of power lines is path planning in three dimensions. The algorithm should be able to cope with multiple obstacles. Within this project, a prototype system for 3D path planning based on a state-of-the-art approach should be implemented. <br /></p> <p><b>Overview:</b><br /> - Compare different path planning approaches according to their applicability<br /> - Implement and evaluate favourite algorithm<br /> - Create a visualization of the path planning in the robotic simulator<br /></p> <p><b>Keywords:</b><br /> PEGASUS, path planning, obstacle, power line<br /></p> <p><b>Requirements: </b><br /> - C++ or Matlab <br /> - interest in robotic simulation </p>
PEGASUS: Model-based recognition of power towers
<p><img src="http://www.icg.tu-graz.ac.at/Members/wendel/images/model_based_recognition.jpg" align="right" /> <b>Goal: </b><br /> The goal of PEGASUS is the autonomous inspection of overhead power lines using an unmanned aerial vehicle. One of the requirements for visual navigation within the vicinity of power lines is the proper recognition of power towers. We benefit from detailed knowledge about the towers in form of a CAD model, so it is possible to apply model-based recognition. Within this project, a prototype system for recognition and pose estimation of a power tower should be implemented. <br /></p> <p><b>Overview:</b><br /> - Create a simulated dataset of power towers for evaluation and testing<br /> - Compare different object recognition approaches according to their applicability<br /> - Implement and evaluate favourite algorithm<br /></p> <p><b>Keywords:</b><br /> PEGASUS, detection, recognition, power line</p> <p><br /> <b>Requirements: </b><br /> - C++ or Matlab <br /> - interest in robotic simulation </p>
Quadrotor Data Post-Processing
<img src="http://www.icg.tugraz.at/Members/wendel/images/post_processing.png" alt="" width="250px" align="right" /> <strong>Overview:</strong> <p>&nbsp;</p> <p> - 3D visualization of the flight path</p> <p> - Automatic detection of take-off and landing, removal of video clutter before and after</p> <p> - Overlay for OpenStreetMaps for spatial searchability and visualization</p> <p> - Tag images with GPS positions</p> <p> - Become part of a team working on cutting-edge robotics and vision systems</p> <p>&nbsp;</p> <p>&nbsp;</p> <strong>Requirements: </strong> <p>&nbsp;</p> <p> - C++</p> - Linux experience is an advantage
Quadrotor GPS Flight-Planning
<h2>Assigned, in progress</h2> <img src="http://www.icg.tugraz.at/Members/wendel/images/quadrotor.png" width="250px" align="right" /> <b>Overview:</b><br /> - Path computation based on coverage of camera (+ overlap) and obstacles<br /> - User interface for defining target region and obstacles based on aerial images<br /> - Become part of a team working on cutting-edge robotics and vision systems<br /> <br /><br /> <b>Requirements: </b><br /> - C++ <br /> - Linux experience is an advantage
Detection of Wires / Wiry Structures
<img src="http://www.icg.tugraz.at/Members/wendel/images/detection_wiry.png" width="250px" align="right" /> <br /><br /> <b>Overview:</b><br /> - Implementation and evaluation of a recently proposed wire detection algorithm<br /> - Extension to other wiry objects such as chairs, rails, or pylons<br /> - Experiments on a wire dataset and on an own dataset<br /> <br /><br /> <b>Requirements: </b><br /> - C++ <br /> - Linux experience is an advantage
Localization and Visual Failure Detection for Insulators
<img src="http://www.icg.tugraz.at/Members/wendel/images/description_insulator.png" width="250px" align="right" /> <b>Overview:</b><br /> - Localization of insulators in highly cluttered images<br /> - Matching of identical insulators in several images<br /> - Optical error detection based on training images<br /> <br /><br /> <b>Requirements: </b><br /> - C++<br /> - Linux experience is an advantage<br />
Automatic Take-off and Landing
<img src="http://www.icg.tugraz.at/Members/wendel/images/quadrotor.png" width="250px" align="right" /> <b>Overview:</b><br /> - Robust control of the quadrotor based on visual and IMU data<br /> - Take-off, hovering, and position hold using artificial landmarks (markers)<br /> - Extension to natural features and evaluation of the approach<br /> <br /><br /> <b>Requirements: </b><br /> - C++ <br /> - Linux experience is an advantage
HOLISTIC: Holistic Aerial Scene Understanding Using Highly Redundant Data
CONSTRUCT: Construction Site Monitoring and Change Detection using UAVs
Multi-Scale Pose Estimation
<img src="http://www.icg.tugraz.at/Members/wendel/images/quadrotor.png" width="250px" align="right" /> <b>Overview:</b><br /> - Obtain a global pose by matching image features to model features (e.g. SIFT)<br /> - Refine the pose for partial model visibility by using the knowledge about the video sequence, i.e., by tracking feature points<br /> - Evaluate on different datasets, including wiry objects (power pylons)<br /> <br /><br /> <b>Requirements: </b><br /> - C++ <br /> - Linux experience is an advantage
Visualization Tool for 3D Reconstructions
<img src="http://www.icg.tugraz.at/Members/wendel/images/meshlab.png" width="250px" align="right" /> <b>Overview:</b><br /> - Visualization of large point clouds and meshes<br /> - Integration into an existing software library<br /> - Support for animations and snapshots<br /> - Become part of a team working on cutting-edge robotics and vision systems<br /> <br /><br /> <b>Requirements: </b><br /> - C++ <br /> - Linux experience is an advantage
Augmented Reality Viewer for Android
<img src="http://www.icg.tugraz.at/Members/wendel/images/tegra3.png" width="250px" align="right" /> <b>Overview:</b><br /> - Transfer of an existing software library to Android, adaptation to limited resources<br /> - Experimental comparison of low-cost GPS, IMU, and cameras on a Tegra3 Tablet to a high-quality system<br /> - Become part of a team working on cutting-edge robotics and vision systems<br /> <br /><br /> <b>Requirements: </b><br /> - C++ <br /> - Linux experience is an advantage
Master's Thesis Aerial Vision
<img src="http://www.icg.tugraz.at/Members/wendel/images/quadrotor.png" width="250px" align="right" /> Master's Thesis in the field of Aerial Vision are offered on request. If you're interested, please send an email to <a href="http://www.icg.tugraz.at/author/wendel/">Andreas Wendel</a> and we'll give you a lab tour.
Visual Collision Avoidance
<img src="http://www.icg.tugraz.at/Members/wendel/images/quadrotor.png" width="250px" align="right" /> TBD
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