Computer vision-based techniques and path planning strategy in a slope monitoring system using unmanned aerial vehicle

摘要

Unmanned aerial vehicle is a typical field robot which can work in many unstructured environments like mines, forests, and even radiation areas. In our mine monitoring system built in a northeast province of China, special designed unmanned aerial vehicle is applied to take photos and perceive the environment. We select a series of image-based techniques to process aerial pictures to monitor the slope. The visual features are initially refined by histogram equalization. Then, the rocks and cracks can be detected by different digital image processing operators, like Canny, so as to assess displacements. Advanced semantic segmentation model, U-Net, is also selected to process the problem. Experimental results show that both Canny and U-Net can perceive the edges in pictures effectively, better than other operators. In addition, we model the inspection mission for mine slopes into a traveling salesman problem, then plan the path for unmanned aerial vehicle by swarm intelligence-based optimization.