Empleo de microdrones para la reconstrucción tridimensional del terreno

Abstract

This document proposes an image processing scheme that allows the construction of a digital terrain model using technologically affordable elements: a personal computer and a low-budget micro UAV. Another important issue of this proposal is that the construction of the model does not require georeferenced information or sophisticated sensors, since the whole process is based on the processing of digital images taken with a monocular camera embedded in the microdron. The digital terrain model, in addition to being built incrementally (at the same time the area is overflight), is of good accuracy, with estimation errors of less than 4%, so the model could be used for trajectory planning and autonomous navigation of the micro UAV. The purpose of this work is to provide to a large number of users, both private and academic, a robust and affordable tool for the development of new applications based on the use of UAV.