Najib METNI François DERKX Jean-Luc SORIN

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Najib METNI François DERKX Jean-Luc SORIN LOCALIZATION OF A UAV FOR THE INSPECTION OF BRIDGES BY USING VISION AND INERTIAL SENSORS Najib METNI François DERKX Jean-Luc SORIN

DESCRIPTION OF THE UAV (SurveyCopter) PROBLEM FORMULATION: To localize the aerial vehicle in the 3D environment for cracks and defects visualization on bridges. OBJECTIVES: Scanning the civil structures to detect defects and cracks. - To automate the tasks to be realized. To reduce necessary logistics (time, security,..). - To avoid the closing the traffic on the bridge. DESCRIPTION OF THE UAV (SurveyCopter) Used Sensors: INS (Inertial Navigation Sensor), GPS, Camera. The Ground Station COPTER 1B

First Experiment on the “Viaduc de Saint-Cloud”: Normal inspection by the means of a Footbridge: First Experiment on the “Viaduc de Saint-Cloud”: Inspection feasibility trial of an manually controlled UAV helicopter: -- Image of a bridge defect and its corresponding treated image:

Trajectory Optimization Data Fusion from INS and Camera: Trajectory Optimization Non Linear Estimator

Camera Modelisation: Homography Matrix: