<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This paper presents a quadrotor drone designed for the 3D reconstruction of indoor environments using a depth camera and a tracking camera. The drone’s hardware and software components are described, including the Holybro X500V2 kit, the Intel RealSense T265 tracking camera, and the Intel RealSense D435i depth camera. The paper outlines the process of building a complete TF tree, capturing point clouds with RtabMap, and streaming video. The drone’s pose stabilization and successful test flight in an indoor environment are also discussed, including its ability to navigate through indoor spaces and provide accurate data for 3D reconstruction. The paper concludes with recommendations for future development, such as autonomous navigation and exploration of unknown areas. The results demonstrate the feasibility and potential of this drone for creating detailed and comprehensive maps of indoor environments.</p>
</abstract>

This paper presents a quadrotor drone designed for the 3D reconstruction of indoor environments using a depth camera and a tracking camera. The drone’s hardware and software components are described, including the Holybro X500V2 kit, the Intel RealSense T265 tracking camera, and the Intel RealSense D435i depth camera. The paper outlines the process of building a complete TF tree, capturing point clouds with RtabMap, and streaming video. The drone’s pose stabilization and successful test flight in an indoor environment are also discussed, including its ability to navigate through indoor spaces and provide accurate data for 3D reconstruction. The paper concludes with recommendations for future development, such as autonomous navigation and exploration of unknown areas. The results demonstrate the feasibility and potential of this drone for creating detailed and comprehensive maps of indoor environments.

3D Mapping with a Drone Equipped with a Depth Camera in Indoor Environment

Department of Electrical Engineering and Mechatronics, Faculty of Electrical Engineering and Informatics

Acta Electrotechnica et Informatica

This work is licensed under the Creative Commons Attribution 4.0 International License.

{"article-title":"3D Mapping with a Drone Equipped with a Depth Camera in Indoor Environment"}

This paper presents a quadrotor drone designed for the 3D reconstruction of indoor environments using a depth camera and a tracking camera. The drone’s...

3D Mapping with a Drone Equipped with a Depth Camera in Indoor Environment

Published Online: Jun 23, 2023

Page range: 18 - 24

Received: Mar 20, 2023

Accepted: May 03, 2023

DOI: https://doi.org/10.2478/aei-2023-0003

Keywords
3D scanning, visual SLAM, drone

© 2023 Stanislav Alexovič et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

3D Mapping with a Drone Equipped with a Depth Camera in Indoor Environment

Published Online: Jun 23, 2023

Page range: 18 - 24

Received: Mar 20, 2023

Accepted: May 03, 2023

DOI: https://doi.org/10.2478/aei-2023-0003

Keywords3D scanning, visual SLAM, drone

© 2023 Stanislav Alexovič et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Keywords
3D scanning, visual SLAM, drone