In this study we present a Micro Aerial Vehicle (MAV) equipped with precise position and attitude sensors that together with a precalibrated 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.
With the aid of precise aerial position control together with a pre-calibrated camera, two case studies for accurate mapping are presented without GCPs REF .
Fixed-wing Micro Aerial Vehicle for Accurate Corridor Mapping
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Computer Science