|Description:||Unmanned Aerial Vehicles (UAVs) are expanding from open outdoor environments into more constrained indoor locations thanks to improvements in accuracy and precision of localization, navigation and control algorithms in recent years. New possibilities for deployment of autonomous UAV swarms into indoor environments emerge, leading to the development of high-level mission-oriented algorithms. Our team is in particular interested in mapping and documenting of historic buildings to assess the condition of the ceiling, murals, statues, stained glass, etc. An accurate and detailed 3D model of the historic buildings is needed for arranging restoration projects, measuring certain dimensions of the interior, and also for planning of further UAV missions.
The goal of this project is to autonomously navigate a UAV equipped with a rotating laser rangefinder (LIDAR) through a historic building to capture the interior by laser scans completely. The solution will involve onboard decision making and trajectory replanning that will guide the UAV to yet unmapped areas while simultaneously avoiding collisions with obstacles. When the whole interior is mapped, the dataset obtained during the flight will be processed, planar features extracted, and triangular meshes built to generate a realistic 3D surface model of the interior.