公开(公告)号：US20240371155A1

公开(公告)日：2024-11-07

申请号：US18421333

申请日：2024-01-24

Applicant: Tata Consultancy Services Limited

Inventor： Arindam SAHA ,  Mohan BHASKARA ,  Ranjan DASGUPTA ,  Lokesh KUMAR ,  Sarvesh SORTEE

IPC: G06V20/17 ,  B64U20/87 ,  B64U101/26 ,  G06T17/10

Abstract: This disclosure provides system and method for performing an autonomous aircraft visual inspection task using an unmanned aerial vehicle (UAV). The UAV is equipped with a front-facing RGB-D camera, one Velodyne three dimensional Light Detection and Ranging with 64 channels, and one Inertial Measurement Unit. In the method of the present disclosure, the UAV takeoff from any nearby location of the aircraft and face the RGB-D camera towards the aircraft. The UAV find the nearest landmark using a template matching approach and register with the aircraft coordinate system. The UAV navigate using LiDAR and IMU measurements, whereas the inspection process uses measurements from the RGB-D camera. The UAV navigate using a proposed safe navigation around the aircraft by avoiding obstacles. The system identifies the objects of interest using a deep-learning based object detection tool and then performs the inspection. A simple measuring algorithm for simulated objects of interest is implemented.

公开(公告)号：US20240317425A1

公开(公告)日：2024-09-26

申请号：US18604817

申请日：2024-03-14

Applicant: Tata Consultancy Services Limited

Inventor： Mohan BHASKARA ,  Mahesha GUNMI ,  Ranjan DASGUPTA ,  Babu UNNIKRISHNAN ,  Kavita Sara MATHEW ,  Arindam SAHA ,  Lokesh KUMAR

IPC: B64F5/30 ,  F16H1/46

CPC classification number: B64F5/30 ,  F16H1/46

Abstract: Cleaning systems proposed in the art have technical construct limitations in the cleaning mechanisms used, which leads to a lower ratio of power consumed to area cleaned, directly affecting the cleaning efficiency. Thus, an Unmanned Aerial Vehicle (UAV) Propelled Autonomous Multiplane Cleaning System (UPAMCS) is disclosed. An UAV and Mopping Interface Mechanism (UAV-MIM) connects a UAV to one or more mopping systems comprising an epicyclic gear driven moppers with no additional power devices used. A maneuvering mechanism disclosed enables the UAV to propel the mopping systems to reach any geometric shape or inclination. The UPAMCS provides cost, time, and power efficient surface cleaning. The UPAMCS is also equipped with vision cameras and LiDAR for guidance during landing and crawling over surfaces along with additional surface defect detection by processing the captured images.

公开(公告)号：US20200327642A1

公开(公告)日：2020-10-15

申请号：US16830328

申请日：2020-03-26

Applicant: Tata Consultancy Services Limited

Inventor： Arindam SAHA ,  Soumyadip MAITY ,  Brojeshwar BHOWMICK

IPC: G06T3/40 ,  G06T3/00 ,  G06T5/00 ,  G06T5/50 ,  G06T17/20

Abstract: The present disclosure provides a system and a method for stitching images using non-linear optimization and multi-constraint cost function minimization. Most of conventional homography based transformation approaches for image alignment, calculate transformations based on linear algorithms which ignore parameters such as lens distortion and unable to handle parallax for non-planar images resulting in improper image stitching with misalignments. The disclosed system and the method generates initial stitched image by estimating a global homography for each image using estimated pairwise homography matrix and feature point correspondences for each pair of images, based on a non-linear optimization. Local warping based image alignment is applied on the initial stitched image, using multi-constraint cost function minimization to mitigate aberrations caused by noises in the global homography estimation to generate the refined stitched image. The refined stitched image is accurate and free from misalignments and poor intensities.

公开(公告)号：US20150371396A1

公开(公告)日：2015-12-24

申请号：US14493959

申请日：2014-09-23

Applicant: Tata Consultancy Services Limited

Inventor： Brojeshwar BHOWMICK ,  Apurbaa MALLIK ,  Arindam SAHA

IPC: G06T7/00 ,  G06K9/20

CPC classification number: G06T7/593 ,  G06K9/209 ,  G06K2209/40 ,  G06T7/579 ,  G06T7/80 ,  G06T7/97 ,  G06T2200/08 ,  G06T2207/10021

Abstract: Disclosed is a method and system for constructing a 3D structure. The system of the present disclosure comprises an image capturing unit for capturing images of an object. The system comprises of a gyroscope, a magnetometer, and an accelerometer for determining extrinsic camera parameters, wherein the extrinsic camera parameters comprise a rotation and a translation of the images. Further the system determines an internal calibration matrix once. The system uses the extrinsic camera parameters and the internal calibration matrix for determining a fundamental matrix. The system extracts features of the images for establishing point correspondences between the images. Further, the point correspondences are filtered using the fundamental matrix for generating filtered point correspondences. The filtered point correspondences are triangulated for determining 3D points representing the 3D structure. Further, the 3D structure may be optimized for eliminating reprojection errors associated with the 3D structure.

Abstract translation: 公开了一种用于构造3D结构的方法和系统。 本公开的系统包括用于捕获对象的图像的图像捕获单元。 该系统包括陀螺仪，磁力计和用于确定外在摄像机参数的加速度计，其中外在摄像机参数包括图像的旋转和平移。 此外，系统确定内部校准矩阵一次。 该系统使用外在摄像机参数和内部校准矩阵来确定基本矩阵。 系统提取图像的特征以建立图像之间的点对应。 此外，使用用于生成滤波点对应的基本矩阵来对点对应进行滤波。 过滤的点对应被三角测量，用于确定表示3D结构的3D点。 此外，可以优化3D结构以消除与3D结构相关联的重新投射错误。