Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning скачать в хорошем качестве

Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning

Aerial mapping systems are important for many surveying applications (e.g., industrial inspection or agricultural monitoring). Fully autonomous systems can significantly improve efficiency. This video presents Osprey, an autonomous aerial mapping system with state-of-the-art multi-session mapping capabilities. It enables a non-expert operator to specify a bounded target area that the aerial platform can then map autonomously, over multiple flights if necessary. Field experiments with Osprey demonstrate mapping of three sites, with a total ground coverage of 7085m2 and a maximum height of 27m. True colour maps were created from images captured by Osprey using pointcloud and NeRF reconstruction methods. These maps provide useful data for structural inspection tasks. Authors: Rowan Border, Nived Chebrolu, Yifu Tao, Jonathan Gammell, Maurice Fallon