與在空曠地區的進行的航空影像不同，人造建築物的航空檢視需要無人機進行更複雜的導航。無人機需要以可控的方式向目標物體移動，以獲取結構表面的特寫影像，同時也需要為了自身的安全而避免碰撞到目標建築物。在本文中，我們提出了一項基於視覺導航的人造建築物之自主檢視任務。我們利用SLAM做為視覺定位之基礎，主要針對以圓柱形建築物為路徑之環繞檢視為例，以實際飛行的形式進行了測試。
我們的技術貢獻主要有兩個方面。首先，我們以一個較為完整之任務形式呈現我們的研究，無人機從起飛開始，接著會自主辨識出目標建築物並設定環繞檢視之路徑，在環繞的同時進行實時校正，完成使用者設定之環繞回合數後便會進行返航。其次，我們使用行為樹作為控制體系結構來集成所有功能組件以增強整體之穩定性以及可行性，並在低成本之微型無人機上進行開發。而在現實世界中的實驗表明，無人機可以以一定的成功率執行環繞檢視任務，並且能完整的獲取目標建築物的影像以進行結構檢視。

Unlike aerial imagery in open fields, aerial inspection on man-made construction requires more complex navigation from drones. The drone needs to move toward target object in a controlled manner in order to acquire close-up views on structure surface, at the same time, avoid collision for its own safety. In this paper, we present a research work on autonomous visual navigation for aerial inspection on man-made construction. In particular, we focus on developing orbital inspection of pole-like objects. We use SLAM as the basis for visual positioning and we test our method in the form of actual flight.
There are two main aspects of our technical contribution. First, we present our research in the form of a relatively complete mission. The drone will automatically identify the target building and set the path for the surround view from the start of take-off, and perform real-time adjustment while orbiting to complete the user-defined surround After the number of rounds, it will return home. Secondly, we use behavior tree as a control architecture to integrate all functional components to enhance the overall stability and feasibility, and develop it on a low-cost UAV. Extensive experiments in a real world scenario have shown that UAV can perform surround building inspection tasks with a certain success rate, and can obtain complete images of target buildings for structural inspection.

第一章 緒論 1
1.1 研究背景 1
1.2 研究動機與目的 3
1.3 論文架構 5
1.4 研究成果與貢獻 6
第二章 文獻探討 7
2.1 同步建模與即時定位 7
2.2 行為樹 10
2.3 建築物檢視之案例 13
第三章 基於視覺導航之無人機環繞檢測 15
3.1 特徵點比對 16
3.2 ORB-SLAM 17
3.3環繞路徑生成 20
3.4 路徑導航 21
3.5錯誤回復 23
3.6行為樹 25
第四章 實驗設計及結果分析 28
4.1 實驗設計 28
4.2 實驗評估指標設計 30
4.3 實驗結果與分析 33
4.3.1 無人機與預設路徑之偏差 34
4.3.2 環繞路徑之方向偏差 35
4.4 自主無人機環繞檢視之路徑俯視圖 36
4.5 實驗結果討論 39
第五章 結論及未來展望 41
5.1 研究結論 41
5.2 未來展望 42
參考文獻 44

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