Automation methods for UAV perching on pipes

A method of autonomously perching an unmanned aerial vehicle (UAV) on a cylindrically curved surface from a starting position away from the cylindrically curved surface, the method comprising:

• capturing and outputting, using a three-dimensional (3D) depth camera attached to the UAV, 3D point clouds of scenes from the UAV comprising the cylindrically curved surface;
• capturing and outputting, using a two-dimensional (2D) light detection and ranging (LIDAR) system attached to the UAV, 2D slices of the scenes, the 2D LIDAR system having a one-dimensional (1D) field of view (FOV), in contrast to a 3D LIDAR system having a 2D FOV;
• mechanically perching the UAV on the cylindrically curved surface using a perching mechanism attached to the UAV;
• controlling the depth camera and the 2D LIDAR system to capture the 3D point clouds and the 2D slices, respectively, of the scenes;
• inputting the captured 3D point clouds from the depth camera and the captured 2D slices from the 2D LIDAR system;
• autonomously detecting and localizing the cylindrically curved surface using the captured 3D point clouds and the captured 2D slices;
• autonomously directing the UAV from the starting position to a landing position on the cylindrically curved surface based on the autonomous detection and localization of the cylindrically curved surface;
• and
• autonomously controlling the UAV to perch the UAV on the cylindrically curved surface at the landing position using the perching mechanism.