GATSBI：一种面向针对性表面桥梁检测与缺陷检测的基于GTSP的在线算法
GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection and Defect Detection
AI总结：
针对未知几何模型的基础设施表面缺陷检测问题，提出基于GTSP的在线规划算法GATSBI，通过语义分割基础设施体素、聚类视点并滚动重规划路径，经仿真与实实验证其检测效率与全面性优于已知地图的基线算法。
摘要：
我们研究利用无人机（UAV）对基础设施进行视觉表面缺陷检测的问题，且不假设基础设施的几何模型是预先已知的。我们提出的规划器名为GATSBI，采用滚动时域方式规划路径，以检测基础设施表面的所有点位。GATSBI的输入为利用3D点云在线构建的3D占据地图，我们对该地图中对应基础设施的占据体素进行语义分割，以此生成仅包含基础设施的占据地图。要检测一个基础设施体素，无人机需从期望的视角和距离拍摄图像。我们随后构建一个广义旅行商问题（GTSP）实例，对用于检测基础设施体素的候选视点进行聚类，并使用现成的GTSP求解器为该实例寻找最优路径。随着算法逐步观测到更多环境区域，它会重新规划路径，在避开障碍物的同时检测基础设施中尚未检测的部分。我们通过在AirSim中开展的高保真仿真以及真实世界实验评估了算法性能，并将GATSBI与一种预先已知地图的基线检测算法进行了对比。评估结果表明，仅针对分割后的基础设施体素开展检测，并结合GTSP求解器进行精细规划，能够实现比基线检测算法更高效、更全面的检测效果。
英文摘要：
We study the problem of visual surface inspection of infrastructure for defects using an Unmanned Aerial Vehicle (UAV). We do not assume that the geometric model of the infrastructure is known beforehand. Our planner, termed GATSBI, plans a path in a receding horizon fashion to inspect all points on the surface of the infrastructure. The input to GATSBI consists of a 3D occupancy map created online with 3D pointclouds. Occupied voxels corresponding to the infrastructure in this map are semantically segmented and used to create an infrastructure-only occupancy map. Inspecting an infrastructure voxel requires the UAV to take images from a desired viewing angle and distance. We then create a Generalized Traveling Salesperson Problem (GTSP) instance to cluster candidate viewpoints for inspecting the infrastructure voxels and use an off-the-shelf GTSP solver to find the optimal path for the given instance. As the algorithm sees more parts of the environment over time, it replans the path to inspect uninspected parts of the infrastructure while avoiding obstacles. We evaluate the performance of our algorithm through high-fidelity simulations conducted in AirSim and real-world experiments. We compare the performance of GATSBI with a baseline inspection algorithm where the map is known a priori. Our evaluation reveals that targeting the inspection to only the segmented infrastructure voxels and planning carefully using a GTSP solver leads to a more efficient and thorough inspection than the baseline inspection algorithm.
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