{"id":"https://openalex.org/W2561251170","doi":"https://doi.org/10.1109/iros.2016.7759734","title":"Towards fully autonomous visual inspection of dark featureless dam penstocks using MAVs","display_name":"Towards fully autonomous visual inspection of dark featureless dam penstocks using MAVs","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2561251170","doi":"https://doi.org/10.1109/iros.2016.7759734","mag":"2561251170"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061809872","display_name":"Tolga \u00d6zaslan","orcid":"https://orcid.org/0000-0002-5002-0670"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tolga Ozaslan","raw_affiliation_strings":["GRASP Lab., University of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Lab., University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030457220","display_name":"Kartik Mohta","orcid":"https://orcid.org/0000-0002-0932-6475"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kartik Mohta","raw_affiliation_strings":["GRASP Lab., University of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Lab., University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031530435","display_name":"James F. Keller","orcid":"https://orcid.org/0000-0001-8962-5469"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Keller","raw_affiliation_strings":["GRASP Lab., University of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Lab., University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087249519","display_name":"Yash Mulgaonkar","orcid":"https://orcid.org/0000-0002-5330-1208"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Mulgaonkar","raw_affiliation_strings":["GRASP Lab., University of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Lab., University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036660535","display_name":"Camillo J. Taylor","orcid":"https://orcid.org/0000-0002-9332-5087"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Camillo J. Taylor","raw_affiliation_strings":["GRASP Lab., University of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Lab., University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Lab., University of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Lab., University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073134002","display_name":"Jennifer M. Wozencraft","orcid":null},"institutions":[{"id":"https://openalex.org/I1306490931","display_name":"United States Army Corps of Engineers","ror":"https://ror.org/05w4e8v21","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1306490931","https://openalex.org/I1330347796"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jennifer M. Wozencraft","raw_affiliation_strings":["The U.S. Army Corps of Engineers (USACE)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The U.S. Army Corps of Engineers (USACE)","institution_ids":["https://openalex.org/I1306490931"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072818146","display_name":"Thomas Hood","orcid":null},"institutions":[{"id":"https://openalex.org/I1306490931","display_name":"United States Army Corps of Engineers","ror":"https://ror.org/05w4e8v21","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1306490931","https://openalex.org/I1330347796"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Hood","raw_affiliation_strings":["The U.S. Army Corps of Engineers (USACE)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The U.S. Army Corps of Engineers (USACE)","institution_ids":["https://openalex.org/I1306490931"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4998","last_page":"5005"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6483426094055176},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6402686834335327},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5593941807746887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5213291049003601},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.47866639494895935},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.46093645691871643},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.4512559175491333},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.44042861461639404},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.42960861325263977},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.4278773367404938},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.427171528339386},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38046354055404663},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31703731417655945}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6483426094055176},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6402686834335327},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5593941807746887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5213291049003601},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.47866639494895935},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.46093645691871643},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.4512559175491333},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.44042861461639404},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.42960861325263977},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.4278773367404938},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.427171528339386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38046354055404663},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31703731417655945},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:ad91ebf4-c2cd-4020-a3e9-ab9e01ed8c06","is_oa":false,"landing_page_url":"https://avesis.aybu.edu.tr/publication/details/ad91ebf4-c2cd-4020-a3e9-ab9e01ed8c06/oai","pdf_url":null,"source":{"id":"https://openalex.org/S7407055213","display_name":"AYBU AVESIS","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W166668249","https://openalex.org/W1532362218","https://openalex.org/W1565206031","https://openalex.org/W1659349535","https://openalex.org/W1970504153","https://openalex.org/W1990101796","https://openalex.org/W1999210160","https://openalex.org/W2008277209","https://openalex.org/W2019949051","https://openalex.org/W2042316011","https://openalex.org/W2069647917","https://openalex.org/W2101383732","https://openalex.org/W2102693043","https://openalex.org/W2112510830","https://openalex.org/W2119851068","https://openalex.org/W2130763585","https://openalex.org/W2137837705","https://openalex.org/W2140881794","https://openalex.org/W2142424817","https://openalex.org/W2399880942","https://openalex.org/W2482392012","https://openalex.org/W2483237105","https://openalex.org/W2899725245","https://openalex.org/W4205398292","https://openalex.org/W6631707545","https://openalex.org/W6652361965","https://openalex.org/W6661056839","https://openalex.org/W6681013399","https://openalex.org/W6721835424"],"related_works":["https://openalex.org/W2614563012","https://openalex.org/W4293337373","https://openalex.org/W1968533609","https://openalex.org/W1984270607","https://openalex.org/W2349333549","https://openalex.org/W2116445905","https://openalex.org/W2206872286","https://openalex.org/W2486803649","https://openalex.org/W3140685204","https://openalex.org/W2417091022"],"abstract_inverted_index":{"In":[0,72],"the":[1,25,34,63,110,115,118,123,126,136,148,156,174,214],"last":[2],"decade,":[3],"multi-rotor":[4,21],"Micro":[5],"Aerial":[6],"Vehicles":[7],"(MAVs)":[8],"have":[9,23],"attracted":[10],"great":[11],"attention":[12],"from":[13,182],"robotics":[14,31],"researchers.":[15],"Offering":[16],"affordable":[17],"agility":[18],"and":[19,44,47,91,105,186,197,201,226],"maneuverability,":[20],"aircrafts":[22],"become":[24],"most":[26,35],"commonly":[27],"used":[28,139],"platforms":[29],"for":[30,56,66,140,195],"applications.":[32],"Amongst":[33],"promising":[36],"applications":[37],"are":[38,138,159],"inspection":[39,81],"of":[40,82,109,135,151,155],"power-lines,":[41],"cell-towers,":[42],"large":[43],"constrained":[45,69],"infrastructures":[46],"precision":[48],"agriculture.":[49],"While":[50],"GPS":[51],"offers":[52],"an":[53,101,162],"easy":[54],"solution":[55,65],"outdoor":[57],"autonomy,":[58],"using":[59,89,117,161,173,232],"on-board":[60,119],"sensors":[61,132],"is":[62,213],"only":[64,215],"autonomy":[67],"in":[68],"indoor":[70],"environments.":[71],"this":[73],"paper,":[74],"we":[75],"present":[76],"our":[77,180,210],"results":[78,181,204],"on":[79,114],"autonomous":[80],"completely":[83],"dark,":[84],"featureless,":[85],"symmetric":[86],"dam":[87],"penstocks":[88],"cameras":[90,104,111,137],"range":[92,131],"sensors.":[93],"We":[94,178],"use":[95],"a":[96],"hex-rotor":[97],"platform":[98],"equipped":[99],"with":[100,205,222],"IMU,":[102],"four":[103],"two":[106,145,157],"lidars.":[107],"One":[108],"tracks":[112],"features":[113],"walls":[116],"illumination":[120,231],"to":[121,130,228],"estimate":[122,147],"position":[124],"along":[125],"tunnel":[127],"axis":[128],"unobservable":[129],"while":[133],"all":[134],"panoramic":[141,193],"image":[142],"construction.":[143],"The":[144],"lidars":[146],"remaining":[149],"degrees":[150],"freedom":[152],"(DOF).":[153],"Outputs":[154],"estimators":[158],"fused":[160],"Unscented":[163],"Kalman":[164],"Filter":[165],"(UKF).":[166],"A":[167],"moderately":[168],"trained":[169],"operator":[170],"defines":[171],"waypoints":[172],"Remote":[175],"Control":[176],"(RC).":[177],"demonstrate":[179],"Carters":[183],"Dam,":[184,189],"GA":[185],"Glen":[187],"Canyon":[188],"AZ":[190],"which":[191],"include":[192],"images":[194],"cracks":[196],"rusty":[198],"spot":[199],"detection":[200],"6-DOF":[202],"estimation":[203],"ground":[206],"truth":[207],"comparisons.":[208],"To":[209],"knowledge":[211],"ours":[212],"study":[216],"that":[217],"can":[218],"autonomously":[219],"inspect":[220],"environments":[221],"no":[223,229],"geometric":[224],"cues":[225],"poor":[227],"external":[230],"MAVs.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}