3D modeling of mineshaft using autonomous quad rotor

Sammanfattning: In this master's thesis a multirotor with the ability to scan its surroundingswas built. To be able to produce these scans the multirotor will be equippedwith a custom built 3D LIDAR. In the future, the scans will be used togenerate a 3D map to visualize mineshafts in a well suited way for inspections.This multirotor is designed with the purpose to map mineshafts that areinaccessible to humans, due to safety reasons. To produce a 3D map of themultirotor surroundings the absolute position is needed. Since the multirotorwill be used in an environment where GPS is unavailable, the positioning issolved by utilizing an IMU and Computer Vision technology with a Rangingdevice.The functionality has been tested in a lab environment resembling real lifeoperational conditions, and conrms that it is possible to use this approachto scan an environment where it is possible to have the multirotor in line-ofsightfor the camera.The 3D scanning is relaying on a stable Wi-Fi connection and absolute positionand as long as this is established it is possible to use this point cloudfor inspection.The positioning of the multirotor is tested up to a range of 40 m, with amaximum measured accuracy of 5 cm, which is well within the range ofthe requirements of the application.