ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-1/W1, 23-31, 2015
https://doi.org/10.5194/isprsannals-II-1-W1-23-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
 
27 Aug 2015
FIXED-WING MICRO AERIAL VEHICLE FOR ACCURATE CORRIDOR MAPPING
M. Rehak and J. Skaloud École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland
Keywords: Corridor mapping, MAV, UAV, GNSS/INS, boresight, calibration Abstract. In this study we present a Micro Aerial Vehicle (MAV) equipped with precise position and attitude sensors that together with a pre-calibrated camera enables accurate corridor mapping. The design of the platform is based on widely available model components to which we integrate an open-source autopilot, customized mass-market camera and navigation sensors. We adapt the concepts of system calibration from larger mapping platforms to MAV and evaluate them practically for their achievable accuracy. We present case studies for accurate mapping without ground control points: first for a block configuration, later for a narrow corridor. We evaluate the mapping accuracy with respect to checkpoints and digital terrain model. We show that while it is possible to achieve pixel (3-5 cm) mapping accuracy in both cases, precise aerial position control is sufficient for block configuration, the precise position and attitude control is required for corridor mapping.
Conference paper (PDF, 1025 KB)


Citation: Rehak, M. and Skaloud, J.: FIXED-WING MICRO AERIAL VEHICLE FOR ACCURATE CORRIDOR MAPPING, ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-1/W1, 23-31, https://doi.org/10.5194/isprsannals-II-1-W1-23-2015, 2015.

BibTeX EndNote Reference Manager XML