|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 UAV can be equipped with multiple sensors working on different principles (LIDARs, passive and structured light cameras) that generate a computer representation of the surroundings of the UAV.
The goal of this project is to combine the environment representations from LIDAR and passive monocular camera. Features will be extracted in both image and laser scan, and correspondences between them found. The camera images will then be mapped on the surface consisting of triangular meshes constructed from the laser scans.