Near-optimal coverage trajectories for image mosaicing using a mini quad-rotor over irregular-shaped fields

被引：66

作者：

Valente, Joao ^{[1
]}

Sanz, David ^{[1
]}

Del Cerro, Jaime ^{[1
]}

Barrientos, Antonio ^{[1
]}

Angel de Frutos, Miguel ^{[1
]}

机构：

[1] Ctr Automat & Robot UPM CSIC, Madrid 28006, Spain

来源：

PRECISION AGRICULTURE | 2013年 / 14卷 / 01期

关键词：

Aerial images; Mosaicing; Coverage path planning; Aerial robots; Mission planner; Remote sensing; CROP;

D O I：

10.1007/s11119-012-9287-0

中图分类号：

S [农业科学];

学科分类号：

09 ;

摘要：

Aerial images are useful tools for farmers who practise precision agriculture. The difficulty in taking geo-referenced high-resolution aerial images in a narrow time window considering weather restrictions and the high cost of commercial services are the main drawbacks of these techniques. In this paper, a useful tool to obtain aerial images by using low cost unmanned aerial vehicles (UAV) is presented. The proposed system allows farmers to easily define and execute an aerial image coverage mission by using geographic information system tools in order to obtain mosaics made of high-resolution images. The system computes a complete path for the UAV by taking into account the on-board camera features once the image requirements and area to be covered are defined. This work introduces a full four-step procedure: mission definition, automatic path planning, mission execution and mosaic generation.

引用

页码：115 / 132

页数：18

共 20 条

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