Tree cavity inspection using aerial robots

Steich, Kelly; Kamel, Mina; Beardsley, Paul; Obrist, Martin K.; Siegwart, Roland; Lachat, Thibault (2016). Tree cavity inspection using aerial robots In: IROS 2016 : 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4856-4862). Piscataway, NJ: IEEE 10.1109/IROS.2016.7759713

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We present an aerial robotic platform for remote tree cavity inspection, based on a hexacopter Micro-Aerial vehicle (MAV) equipped with a dexterous manipulator. The goal is to make the inspection process safer and more efficient and facilitate data collection about tree cavities, which are important for the conservation of biodiversity in forest ecosystems. This work focuses on two key enabling technologies, namely a vision-based cavity detection system and strategies for high level control of the MAV and manipulator. The results of both simulation and real-world experiments are discussed at the end of the paper and demonstrate the effectiveness of our approach.

Item Type:	Conference or Workshop Item (Paper)
Division/Institute:	School of Agricultural, Forest and Food Sciences HAFL > Multifunctional Forest Management
Name:	Steich, Kelly; Kamel, Mina; Beardsley, Paul; Obrist, Martin K.; Siegwart, Roland and Lachat, Thibault0000-0003-3952-7443
Subjects:	G Geography. Anthropology. Recreation > GA Mathematical geography. Cartography S Agriculture > SD Forestry T Technology > T Technology (General)
ISSN:	2153-0866
ISBN:	978-1-5090-3763-6
Publisher:	IEEE
Language:	English
Submitter:	Service Account
Date Deposited:	10 Mar 2020 09:44
Last Modified:	18 Dec 2020 13:28
Publisher DOI:	10.1109/IROS.2016.7759713
ARBOR DOI:	10.24451/arbor.7379
URI:	https://arbor.bfh.ch/id/eprint/7379