ChimneySpector—Autonomous MAV-based Indoor Chimney Inspection

158 views · Published 7 May 2017 · 3:37 · Indexed 5 October 2026

Channel: nimbro · 2017 · Science & Technology

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Matthias Nieuwenhuisen, Jan Quenzel, Marius Beul, David Droeschel, Sebastian Houben, and Sven Behnke:
ChimneySpector: Autonomous MAV-based Indoor Chimney Inspection Employing 3D Laser Localization and Textured Surface Reconstruction
International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, June 2017. 
http://www.ais.uni-bonn.de/papers/ICUAS_2017_Nieuwenhuisen_ChimneySpector.pdf

The video demonstrates an integrated chimney inspection
robot based on a small lightweight flying platform. For navigation and obstacle avoidance, it is equipped with a multimodal sensor setup including a lightweight 3D laser scanner, stereo cameras, and an RGB-D sensor for surface inspection. We tested our system
in a mock-up chimney modeling several surfaces found in real
chimneys and present results from autonomous flights and the
reconstruction of the chimney surface.

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