3D Autonomous Tracking of Buried Pipelines via a UAV in a Low Altitude

Xiaoqian Huang, Hamad Karki, Amit Shukla, Xiaoxiong Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

This paper presents a novel 3D tracking mechanism for buried oil and gas pipelines based on the tracking structure which is identified via the depth image captured by the stereo camera. Because of the geological specialty of United Arab Emirates that oil and gas pipelines are buried shallowly, then pipelines can be considered as berms visually. Through linear fitting of the nearest pixels of the depth image, the pipeline berm can be identified. Then according to the orientation and lateral difference information of the pipeline obtained, the VAV autonomous navigation and tracking can be realized. Besides, the navigation methods and variant PID controller designed previously are continuously applied in this research. Overall experiment results show this 3D autonomous tracking of the pipeline is stable, accurate and effective.

Original languageBritish English
Title of host publicationProceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018
EditorsBing Xu
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1106-1109
Number of pages4
ISBN (Electronic)9781538645086
DOIs
StatePublished - 14 Dec 2018
Event3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018 - Chongqing, China
Duration: 12 Oct 201814 Oct 2018

Publication series

NameProceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018

Conference

Conference3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018
Country/TerritoryChina
CityChongqing
Period12/10/1814/10/18

Keywords

  • 3D tracking
  • buried pipeline tracking
  • low altitude tracking
  • UAV autonomous tracking
  • variant PID

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