A Human-in-the-Loop Assistive Navigation Platform for UAS-Based Infrastructure Visual Inspection: System Architecture...

While Unmanned Aerial Systems (UAS) are increasingly used for infrastructure inspection, a critical gap exists between optimized path planning and reliable real-world execution. Fully autonomous flights face regulatory constraints and environmental risks, whereas manual piloting introduces inconsistencies that compromise data quality. To address this gap, this study proposes a human-in-the-loop assistive navigation platform that enables pilots to follow preplanned inspection trajectories while maintaining manual control. The proposed system integrates an Augmented Reality (AR)-based guidance module that provides real-time viewpoint localization with a mesh-coupled quality monitoring module that continuously evaluates view redundancy and triangulation uncertainty. A proof-of-concept field demonstration through an on-site façade inspection example indicates that the proposed platform has the potential to improve the consistency of viewpoint distribution, achieving closer adherence to planned spacing and stand-off distance. This results in more uniform spatial sampling, enhanced view redundancy, and reduced variability in theoretical uncertainty, leading to improved geometric conditions for Structure-from-Motion (SfM) reconstruction. Overall, the field demonstration highlights the potential of combining computational guidance with human decision-making to support reliable and high-quality UAS-based infrastructure inspection.