@inproceedings{d694e9c35768437eadaf09c6ae4c37c1,
title = "Coverage Path Planning with Adaptive Viewpoint Sampling to Construct 3D Models of Complex Structures for the Purpose of Inspection",
abstract = "In this paper, we introduce a coverage path planning algorithm with adaptive viewpoint sampling to construct accurate 3D models of complex large structures using Unmanned Aerial Vehicle (UAV). The developed algorithm, Adaptive Search Space Coverage Path Planner (ASSCPP), utilizes an existing 3D reference model of the complex structure and the onboard sensors' noise models to generate paths that are evaluated based on the traveling distance and the quality of the model. The algorithm generates a set of viewpoints by performing adaptive sampling that directs the search towards areas with low accuracy and low coverage. The algorithm predicts the coverage percentage obtained by following the generated coverage path using the reference model. A set of experiments were conducted in real and simulated environments with structures of different complexities to test the validity of the proposed algorithm.",
author = "Randa Almadhoun and Tarek Taha and Dongming Gan and Jorge Dias and Yahya Zweiri and Lakmal Seneviratne",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",
year = "2018",
month = dec,
day = "27",
doi = "10.1109/IROS.2018.8593719",
language = "British English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "7047--7054",
booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018",
address = "United States",
}