2A2-B05 High Accuracy 3D Measurement by a Small Unmanned Aerial Vehicle

Abstract

This paper presents 3D measurement method using a small UAV (Unmanned Aerial Vehicle) which is loaded with limited payload sensors and can fly at lower altitude than manned-aircrafts. The proposal is based on motion stereo technique using high accuracy 3D-camera motion estimation by means of combination of GPS/INS, image features and ground control points tracking. As a result of field experiments, it can be stated that the proposed 3D measurement method is robust to environmental perturbations and can realize accurately/high resolution distance estimation.