Accurate indoor mapping using an autonomous unmanned aerial vehicle (UAV)
This work addresses the need for precise indoor mapping for applications like reconnaissance or safety, but it is incremental as it combines existing methods without introducing new paradigms.
The paper tackled the problem of autonomous indoor mapping by developing a UAV system that integrates existing SLAM, flight control, and path planning technologies, achieving an accuracy of 2 cm in indoor environments.
An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing technologies for 2D navigation. An Unmanned aerial vehicle (UAV) called URSA (Unmanned Recon and Safety Aircraft) that can autonomously flight and mapping indoors environments with an accuracy of 2 cm was developed. Performance in indoor environments was assessed in terms of mapping and navigation precision.