3D Mapping with a Drone Equipped with a Depth Camera in Indoor Environment

Alexovič, Stanislav; Lacko, Milan; Bačík, Ján

doi:10.2478/aei-2023-0003

Abstract

This paper presents a quadrotor drone designed for the 3D reconstruction of indoor environments using a depth camera and a tracking camera. The drone’s hardware and software components are described, including the Holybro X500V2 kit, the Intel RealSense T265 tracking camera, and the Intel RealSense D435i depth camera. The paper outlines the process of building a complete TF tree, capturing point clouds with RtabMap, and streaming video. The drone’s pose stabilization and successful test flight in an indoor environment are also discussed, including its ability to navigate through indoor spaces and provide accurate data for 3D reconstruction. The paper concludes with recommendations for future development, such as autonomous navigation and exploration of unknown areas. The results demonstrate the feasibility and potential of this drone for creating detailed and comprehensive maps of indoor environments.

References

LEE, C. – SONG, H. – CHOI, B. – HO, Y. S.: 3D scene capturing using stereoscopic cameras and a time-of-flight camera. in IEEE Transactions on Consumer Electronics, vol. 57, no. 3, pp. 1370-1376, August 2011, doi: 10.1109/TCE.2011.6018896.
Search in Google Scholar Back to article
CHOI, O. – LEE, S.: Wide range stereo time-of-flight camera. 2012 19th IEEE International Conference on Image Processing, 2012, pp. 557-560, doi: 10.1109/ICIP.2012.6466920.
Search in Google Scholar Back to article
BASTOS, D. – MONTEIRO, P. P. – OLIVEIRA, A. S. R. – DRUMMOND, M. V.: An Overview of Li-DAR Requirements and Techniques for Autonomous Driving: 2021 Telecoms Conference (ConfTELE), 2021, pp. 1-6, doi: 10.1109/ConfTELE50222.2021.9435580.
Search in Google Scholar Back to article
ATIF, M. – LEE, S.: Adaptive Pattern Resolution for Structured Light 3D Camera System. 2018 IEEE SENSORS, 2018, pp. 1-4, doi: 10.1109/ICSENS.2018.8589640.
Search in Google Scholar Back to article
BALTSAVIAS, E. P.: A comparison between photogrammetry and laser scanning. 1999 ISPRS Journal of photogrammetry and Remote Sensing, 54(2-3), 83-94, doi: 10.1016/S0924-2716(99)00014-3.
Search in Google Scholar Back to article
MOTAWA, I. – KARDAKOU, A.: Unmanned aerial vehicles (UAVs) for inspection in construction and building industry. 2018 Paper presented at the 16th International Operation & Maintenance Conference, Cairo, Egypt.
Search in Google Scholar Back to article
SONG, H. – YOO, W. S. – ZATAR, W.: Interactive Bridge Inspection Research using Drone. 2022 IEEE 46th Annual Computers, Software, and Applications Conference (COMPSAC), Los Alamitos, CA, USA, 2022, pp. 1002-1005, doi: 10.1109/COMPSAC54236.2022.00155.
Search in Google Scholar Back to article
LABBÉ, M. - MICHAUD, F.: RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation. in Journal of Field Robotics, vol. 36, no. 2, pp. 416–446, 2019. (Wiley)
Search in Google Scholar Back to article

3D Mapping with a Drone Equipped with a Depth Camera in Indoor Environment

Abstract

Paradigm

My account