Easy 3D Mapping for Indoor Navigation of Micro UAVs

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

1 Citation (Scopus)

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.
Original languageEnglish
Title of host publicationProceedings of 14th International Conference on Informatics in Control, Automation and Robotics
PublisherSCITEPRESS Digital Library
Publication date1 Jul 2017
Pages300-308
ISBN (Electronic)978-989-758-264-6
DOIs
Publication statusPublished - 1 Jul 2017
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
CountrySpain
CityMadrid
Period26/07/201728/07/2017
Internet address

Fingerprint

Unmanned aerial vehicles (UAV)
Navigation
Micro air vehicle (MAV)
Availability

Cite this

Schiøler, H., Totu, L. C., La Cour-Harbo, A., Leth, J-J., & Larsen, J. A. (2017). Easy 3D Mapping for Indoor Navigation of Micro UAVs. In Proceedings of 14th International Conference on Informatics in Control, Automation and Robotics (pp. 300-308). SCITEPRESS Digital Library. https://doi.org/10.5220/0006418303000308
Schiøler, Henrik ; Totu, Luminita Cristiana ; La Cour-Harbo, Anders ; Leth, John-Josef ; Larsen, Jesper Abildgaard. / Easy 3D Mapping for Indoor Navigation of Micro UAVs. Proceedings of 14th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS Digital Library, 2017. pp. 300-308
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Schiøler, H, Totu, LC, La Cour-Harbo, A, Leth, J-J & Larsen, JA 2017, Easy 3D Mapping for Indoor Navigation of Micro UAVs. in Proceedings of 14th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS Digital Library, pp. 300-308, The 14th International Conference on Informatics in Control, Automation and Robotics, Madrid, Spain, 26/07/2017. https://doi.org/10.5220/0006418303000308

Easy 3D Mapping for Indoor Navigation of Micro UAVs. / Schiøler, Henrik; Totu, Luminita Cristiana; La Cour-Harbo, Anders; Leth, John-Josef; Larsen, Jesper Abildgaard.

Proceedings of 14th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS Digital Library, 2017. p. 300-308.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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Schiøler H, Totu LC, La Cour-Harbo A, Leth J-J, Larsen JA. Easy 3D Mapping for Indoor Navigation of Micro UAVs. In Proceedings of 14th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS Digital Library. 2017. p. 300-308 https://doi.org/10.5220/0006418303000308