{"paper":{"title":"Simultaneous drone localisation and wind turbine model fitting during autonomous surface inspection","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andrew Calway, Dimitrios N. Nikolaidis, Konstantinos Karachalios, Oliver Moolan-Feroze","submitted_at":"2019-04-09T08:28:36Z","abstract_excerpt":"We present a method for simultaneous localisation and wind turbine model fitting for a drone performing an automated surface inspection. We use a skeletal parameterisation of the turbine that can be easily integrated into a non-linear least squares optimiser, combined with a pose graph representation of the drone's 3-D trajectory, allowing us to optimise both sets of parameters simultaneously. Given images from an onboard camera, we use a CNN to infer projections of the skeletal model, enabling correspondence constraints to be established through a cost function. This is then coupled with GPS/"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.04523","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}