- 专利标题: AUTOMATED AND ADAPTIVE THREE-DIMENSIONAL ROBOTIC SITE SURVEYING
-
申请号: US15879743申请日: 2018-01-25
-
公开(公告)号: US20190228573A1公开(公告)日: 2019-07-25
- 发明人: Shiraj SEN , Steven Robert GRAY , Arpit JAIN , Huan TAN , Douglas FORMAN , Judith Ann GUZZO
- 申请人: General Electric Company
- 主分类号: G06T17/10
- IPC分类号: G06T17/10 ; G01B11/24 ; G01B15/04 ; G01S17/89 ; G01B17/06 ; G01B21/20 ; G06T17/05 ; G06T7/70 ; G05D1/10
摘要:
A method for generating a three-dimensional model of an asset includes receiving input parameters corresponding to constraints of a mission plan for operating an unmanned vehicle around an asset, generating the mission plan based on the input parameters including information of a representative asset type, wherein the mission plan includes waypoints identifying locations and orientations of one or more image sensors of the unmanned vehicle, generating a flight path for the unmanned vehicle connecting the waypoints that satisfy one or more predefined criteria, monitoring a vehicle state of the unmanned vehicle during execution of the flight path from one waypoint to the next waypoint, determining, at each waypoint, a local geometry of the asset sensed by the one or more image sensors, changing the mission plan on-the-fly based on the local geometry, and capturing images of the asset along waypoints of the changed mission plan.