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

Xiaoqian Huang; Hamad Karki; Amit Shukla; Xiaoxiong Zhang

doi:10.1109/IAEAC.2018.8577653

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

Xiaoqian Huang
, Hamad Karki
, Amit Shukla
, Xiaoxiong Zhang

Mechanical & Nuclear Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	British English
Title of host publication	Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018
Editors	Bing Xu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1106-1109
Number of pages	4
ISBN (Electronic)	9781538645086
DOIs	https://doi.org/10.1109/IAEAC.2018.8577653
State	Published - 14 Dec 2018
Event	3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018 - Chongqing, China Duration: 12 Oct 2018 → 14 Oct 2018

Publication series

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

Conference

Conference	3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018
Country/Territory	China
City	Chongqing
Period	12/10/18 → 14/10/18

Keywords

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

Access to Document

10.1109/IAEAC.2018.8577653

OpenUrl availability

Full text

Cite this

Huang, X., Karki, H., Shukla, A., & Zhang, X. (2018). 3D Autonomous Tracking of Buried Pipelines via a UAV in a Low Altitude. In B. Xu (Ed.), Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018 (pp. 1106-1109). Article 8577653 (Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IAEAC.2018.8577653

Huang, Xiaoqian ; Karki, Hamad ; Shukla, Amit et al. / 3D Autonomous Tracking of Buried Pipelines via a UAV in a Low Altitude. Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018. editor / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1106-1109 (Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018).

@inproceedings{f18cfe2c8030497cb9c0b03846b47dff,

title = "3D Autonomous Tracking of Buried Pipelines via a UAV in a Low Altitude",

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.",

keywords = "3D tracking, buried pipeline tracking, low altitude tracking, UAV autonomous tracking, variant PID",

author = "Xiaoqian Huang and Hamad Karki and Amit Shukla and Xiaoxiong Zhang",

note = "Funding Information: ACKNOWLEDGMENT This research work is supported by GRC, ADNOC, Abu Dhabi, UAE through the project GRC 013. Publisher Copyright: {\textcopyright} 2018 IEEE.; 3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018 ; Conference date: 12-10-2018 Through 14-10-2018",

year = "2018",

month = dec,

day = "14",

doi = "10.1109/IAEAC.2018.8577653",

language = "British English",

series = "Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1106--1109",

editor = "Bing Xu",

booktitle = "Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018",

address = "United States",

}

Huang, X , Karki, H, Shukla, A & Zhang, X 2018, 3D Autonomous Tracking of Buried Pipelines via a UAV in a Low Altitude. in B Xu (ed.), Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018., 8577653, Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1106-1109, 3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018, Chongqing, China, 12/10/18. https://doi.org/10.1109/IAEAC.2018.8577653

3D Autonomous Tracking of Buried Pipelines via a UAV in a Low Altitude. / Huang, Xiaoqian ; Karki, Hamad; Shukla, Amit et al.
Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018. ed. / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1106-1109 8577653 (Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - 3D Autonomous Tracking of Buried Pipelines via a UAV in a Low Altitude

AU - Huang, Xiaoqian

AU - Karki, Hamad

AU - Shukla, Amit

AU - Zhang, Xiaoxiong

PY - 2018/12/14

Y1 - 2018/12/14

N2 - 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.

AB - 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.

KW - 3D tracking

KW - buried pipeline tracking

KW - low altitude tracking

KW - UAV autonomous tracking

KW - variant PID

UR - https://www.scopus.com/pages/publications/85060386537

U2 - 10.1109/IAEAC.2018.8577653

DO - 10.1109/IAEAC.2018.8577653

M3 - Conference contribution

AN - SCOPUS:85060386537

T3 - Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018

SP - 1106

EP - 1109

BT - Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018

A2 - Xu, Bing

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018

Y2 - 12 October 2018 through 14 October 2018

ER -

Huang X , Karki H, Shukla A, Zhang X. 3D Autonomous Tracking of Buried Pipelines via a UAV in a Low Altitude. In Xu B, editor, Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1106-1109. 8577653. (Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018). doi: 10.1109/IAEAC.2018.8577653

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

Abstract

Publication series

Conference

Keywords

Access to Document

OpenUrl availability

Other files and links

Fingerprint

Cite this