Micro and macro quadcopter drones for indoor mapping to support disaster management

S. Karam*, F.C. Nex, O. Karlsson, J. Rydell, E. Bilock, M. Tulldahl, N. Kerle, M. Holmberg

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

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Abstract

The use of drones to explore indoor spaces has gained attention and popularity for disaster management and indoor navigation applications. In this paper we present the operations and mapping techniques of two drones that are different in terms of size, the sensors deployed, and the positioning and mapping techniques used. The first drone is a low-cost commercial quadcopter microdrone, a Crazyflie, while the second drone is a relatively expensive research quadcopter macrodrone, called MAX. We investigated their feasibility in mapping areas where satellite positioning is not available, such as indoor spaces. We compared the point clouds obtained by a multi-ranger deck, a multi-layer LIDAR scanner and a stereo camera, and assessed each against ground truth obtained with a terrestrial laser scanner. Results showed that both drones are capable of mapping relatively cluttered indoor environments and can provide point clouds that are sufficient for a quick exploration. Furthermore, the LIDAR scanner-based system can handle a relatively large office environment with an accumulated drift less than 0.02% (1 cm) on the Z-axis and 0.77% (50 cm) on the X and Y axes over a length trajectory of about 65 m. Despite the limited features of the sensor configuration of the Crazyflie, its performance is promising for mapping indoor spaces, given the relatively low deviation from the ground truth: cloud-to-cloud distances measured were generally less than 20 cm. </jats:p>
Original languageEnglish
Title of host publicationISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
EditorsS. Hinz, R.Q. Feitosa, M. Weinmann, B. Jutzi
PublisherCopernicus
Pages203-210
Number of pages8
VolumeVolume V-1-2022
DOIs
Publication statusPublished - 17 May 2022
EventXXIV ISPRS Congress 2022: Congress “Imaging today, foreseeing tomorrow” - Nice, France
Duration: 6 Jun 202211 Jun 2022
https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLIII-B3-2022/index.html

Publication series

NameISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
PublisherCopernicus
ISSN (Print)2194-9042

Conference

ConferenceXXIV ISPRS Congress 2022
Abbreviated titleISPRS 2022
Country/TerritoryFrance
CityNice
Period6/06/2211/06/22
Internet address

Keywords

  • Crazyflie
  • UAV
  • IMU
  • micro robot
  • Mobile Laser Scanning
  • Obstacle avoidance
  • ITC-GOLD

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