Abstract
Monitoring large scale environments is a crucial task for managing remote alpine environments, especially for hazardous events such as avalanches. One key information for avalanche risk forecast is imagery of released avalanches. As these happen in remote and potentially dangerous locations this data is difficult to obtain. Fixed-wing vehicles, due to their long range and travel speeds are a promising platform to gather aerial imagery to map avalanche activities. However, operating such vehicles in mountainous terrain remains a challenge due to the complex topography, regulations, and uncertain environment. In this work, we present a system that is capable of safely navigating and mapping an avalanche using a fixed-wing aerial system and discuss the challenges arising when executing such a mission. We show in our field experiments that we can effectively navigate in steep terrain environments while maximizing the map quality. We expect our work to enable more autonomous operations of fixed-wing vehicles in alpine environments to maximize the quality of the data gathered.
Abstract (translated)
监控大型环境对于管理远程 Alpine 环境至关重要，尤其是在可能引发山洪等危险事件的环境中。预测雪灾的一种关键信息是释放雪崩的影像。由于这些事件发生在远程且可能危险的位置，因此很难获得这些数据。固定翼车辆由于其长航程和高速旅行，是一个有前途的平台，用于收集高空影像以绘制雪崩活动。然而，在山区操作这些车辆仍然具有挑战性，由于复杂的地质、法规和不确定的环境。在这项工作中，我们提出了一个系统，使用固定翼空中系统安全地导航和绘制雪崩活动。并讨论了在执行此任务时出现的挑战。我们通过现场实验证明，在陡峭的地形环境中，我们既能保证最高地图质量，又能安全地导航。我们预计，我们的工作将使固定翼车辆在 Alpine 环境中实现更自主的操作，从而提高收集到的数据的质量。
URL
https://arxiv.org/abs/2405.02011
