1. 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

2. 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

3. 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:

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

5. Camera Modelisation:
Homography Matrix: