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Solutions for near real time cartography from a mini-quadrotor UAV

机译：小型四驱无人机的近实时制图解决方案

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摘要

In this article, we present another way to acquire centimetric data using a quad-rotor UAV and the specific tools developed to perform near real time cartography. After setting the context of the UAVs, we will present the design and the realization of our quad-rotor Vertical Take Off and Landing solution and it's capacity for Very High Resolution imagery. Then we will describe the tools we developed to improve its ability for operational mapping : how to perform flight in immersion with a customizable HUD that takes the video broadcast from the UAV and adds vector information in real-time on virtual reality goggles, how to combine satellite and vector data with path optimization algorithm to design relevant flight plans and update them in real time to ensure data completeness, how to generate relevant geolocalization meta-data to be able to navigate in the produced image database few minutes after the landing and finally, how to employ home-made open-source mosaicer to take advantage of the three simultaneous on-board digital camera.
机译：在本文中，我们提出了使用四旋翼无人机和开发用于执行近实时制图的特定工具来获取厘米数据的另一种方法。设置了无人机的上下文之后，我们将介绍四旋翼垂直起飞和着陆解决方案的设计和实现，以及其用于超高分辨率图像的能力。然后，我们将描述为提高其操作制图能力而开发的工具：如何使用可自定义的HUD进行沉浸式飞行，该HUD可以接收来自无人机的视频并在虚拟现实护目镜上实时添加矢量信息，如何组合使用路径优化算法的卫星和矢量数据，设计相关的飞行计划并实时更新以确保数据完整性，以及如何生成相关的地理定位元数据，以便能够在降落后的几分钟内在生成的图像数据库中进行导航，最后，如何使用自制的开源马赛克机来利用三个同时车载数字相机。

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