MICRO AND MACRO QUADCOPTER DRONES FOR INDOOR MAPPING TO SUPPORT DISASTER MANAGEMENT
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 m...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2022-05-01
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| Series: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2022/203/2022/isprs-annals-V-1-2022-203-2022.pdf |
| _version_ | 1818206447529361408 |
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| author | S. Karam F. Nex O. Karlsson J. Rydell E. Bilock M. Tulldahl M. Holmberg N. Kerle |
| author_facet | S. Karam F. Nex O. Karlsson J. Rydell E. Bilock M. Tulldahl M. Holmberg N. Kerle |
| author_sort | S. Karam |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-12T04:13:10Z |
| format | Article |
| id | doaj.art-bc5d4c9238c64fd6bcdba29720785d95 |
| institution | Directory Open Access Journal |
| issn | 2194-9042 2194-9050 |
| language | English |
| last_indexed | 2024-12-12T04:13:10Z |
| publishDate | 2022-05-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-bc5d4c9238c64fd6bcdba29720785d952022-12-22T00:38:34ZengCopernicus PublicationsISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences2194-90422194-90502022-05-01V-1-202220321010.5194/isprs-annals-V-1-2022-203-2022MICRO AND MACRO QUADCOPTER DRONES FOR INDOOR MAPPING TO SUPPORT DISASTER MANAGEMENTS. Karam0F. Nex1O. Karlsson2J. Rydell3E. Bilock4M. Tulldahl5M. Holmberg6N. Kerle7University of Twente, Faculty ITC, Dept. of Applied Earth Sciences, 7514 AE Enschede, The NetherlandsUniversity of Twente, Faculty ITC, Dept. of Earth Observation Science, 7514 AE Enschede, The NetherlandsFOI – Swedish Defence Research Agency, Dept. of Sensor Informatics, P.O. Box 1165, SE-581 11 Linköping, SwedenFOI – Swedish Defence Research Agency, Dept. of Sensor Informatics, P.O. Box 1165, SE-581 11 Linköping, SwedenFOI – Swedish Defence Research Agency, Dept. of Sensor Informatics, P.O. Box 1165, SE-581 11 Linköping, SwedenFOI – Swedish Defence Research Agency, Dept. of Electrooptical Systems, P.O. Box 1165, SE-581 11 Linköping, SwedenFOI – Swedish Defence Research Agency, Dept. of Sensor Informatics, P.O. Box 1165, SE-581 11 Linköping, SwedenUniversity of Twente, Faculty ITC, Dept. of Applied Earth Sciences, 7514 AE Enschede, The NetherlandsThe 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.https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2022/203/2022/isprs-annals-V-1-2022-203-2022.pdf |
| spellingShingle | S. Karam F. Nex O. Karlsson J. Rydell E. Bilock M. Tulldahl M. Holmberg N. Kerle MICRO AND MACRO QUADCOPTER DRONES FOR INDOOR MAPPING TO SUPPORT DISASTER MANAGEMENT ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | MICRO AND MACRO QUADCOPTER DRONES FOR INDOOR MAPPING TO SUPPORT DISASTER MANAGEMENT |
| title_full | MICRO AND MACRO QUADCOPTER DRONES FOR INDOOR MAPPING TO SUPPORT DISASTER MANAGEMENT |
| title_fullStr | MICRO AND MACRO QUADCOPTER DRONES FOR INDOOR MAPPING TO SUPPORT DISASTER MANAGEMENT |
| title_full_unstemmed | MICRO AND MACRO QUADCOPTER DRONES FOR INDOOR MAPPING TO SUPPORT DISASTER MANAGEMENT |
| title_short | MICRO AND MACRO QUADCOPTER DRONES FOR INDOOR MAPPING TO SUPPORT DISASTER MANAGEMENT |
| title_sort | micro and macro quadcopter drones for indoor mapping to support disaster management |
| url | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2022/203/2022/isprs-annals-V-1-2022-203-2022.pdf |
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