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http://dx.doi.org/10.5302/J.ICROS.2015.14.0103

Indoor 3D Map Building using the Sinusoidal Flight Trajectory of a UAV  

Hwang, Yo-Seop (Department of Electronic and Electric and Computer Engineering, Pusan National University)
Choi, Won-Suck (Department of Electronic and Electric and Computer Engineering, Pusan National University)
Woo, Chang-Jun (Department of Electronic and Electric and Computer Engineering, Pusan National University)
Wang, Zhi-Tao (Department of Electronic and Electric and Computer Engineering, Pusan National University)
Lee, Jang-Myung (Department of Electronic and Electric and Computer Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.5, 2015 , pp. 465-470 More about this Journal
Abstract
This paper proposes a robust 3D mapping system for a UAV (Unmanned Aerial Vehicle) that carries a LRF (Laser Range Finder) using the sinusoidal trajectory algorithm. In the case of previous 3D mapping research, the UAV usually takes off vertically and flights up and down while the LRF is measuring horizontally. In such cases, the measuring range is limited and it takes a long time to do mapping. By using the sinusoidal trajectory algorithm proposed in this research, the 3D mapping can be time-efficient and the measuring range can be widened. The 3D mapping experiments have been done to evaluate the performance of the sinusoidal trajectory algorithm by scanning indoor walls.
Keywords
3D map-building; UAV; LRF; sinusoidal; quadrotor;
Citations & Related Records
Times Cited By KSCI : 7  (Citation Analysis)
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