Easy 3D Mapping for Indoor Navigation of Micro UAVs

Research output: Research - peer-reviewArticle in proceeding

Abstract

Indoor operation of micro air vehicles (UAS or UAV) is significantly simplified with the availability of some means for indoor localization as well as a sufficiently precise 3D map of the facility. Creation of 3D maps based on the available architectural information should on the one hand provide a map of sufficient precision and on the other limit complexity to a manageable level. This paper presents a box based approach for easy generation 3D maps to serve as the basis for indoor navigation of UAS. The basic building block employed is a 3D axis parallel box (APB). Unions of APBs constitute maps, which are by definition closed to basic set operations such as; union, intersection, set difference etc. The restriction to APBs is made in accordance with the tradeoff between simplicity and expressiveness, where emphasis is here put on simplicity. The mapping approach is presented along with arguments for pivotal design choices and a selection of examples.
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Indoor operation of micro air vehicles (UAS or UAV) is significantly simplified with the availability of some means for indoor localization as well as a sufficiently precise 3D map of the facility. Creation of 3D maps based on the available architectural information should on the one hand provide a map of sufficient precision and on the other limit complexity to a manageable level. This paper presents a box based approach for easy generation 3D maps to serve as the basis for indoor navigation of UAS. The basic building block employed is a 3D axis parallel box (APB). Unions of APBs constitute maps, which are by definition closed to basic set operations such as; union, intersection, set difference etc. The restriction to APBs is made in accordance with the tradeoff between simplicity and expressiveness, where emphasis is here put on simplicity. The mapping approach is presented along with arguments for pivotal design choices and a selection of examples.
Original languageEnglish
Title of host publicationProceedings of 14th International Conference on Informatics in Control, Automation and Robotics
PublisherSCITEPRESS Digital Library
Publication date1 Jul 2017
DOI
StatePublished - 1 Jul 2017
Publication categoryResearch
Peer-reviewedYes
EventThe 14th International Conference on Informatics in Control, Automation and Robotics - Madrid, Spain
Duration: 26 Jul 201728 Jul 2017
http://www.icinco.org/

Conference

ConferenceThe 14th International Conference on Informatics in Control, Automation and Robotics
LandSpain
ByMadrid
Periode26/07/201728/07/2017
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