Scan Alignment and 3-D Surface Modeling with a Helicopter Platform

  • Sebastian Thrun
  • Mark Diel
  • Dirk Hähnel
Part 7 - Helicopters and Air Vehicles
Part of the Springer Tracts in Advanced Robotics book series (volume 24)

Abstract

This paper describes initial results for a laser-based aerial mapping system. Our approach applies a real-time laser scan matching algorithm to 2-D range data acquired by a remotely controlled helicopter. Results obtain for urban and natural terrain exhibit an unprecendented level of spatial detail in the resulting 3-D maps.

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Authors and Affiliations

  • Sebastian Thrun
    • 1
  • Mark Diel
    • 2
  • Dirk Hähnel
    • 3
  1. 1.Stanford University, Stanford, CAUSA
  2. 2.WhirledAir, Inc. 
  3. 3.University of FreiburgGermany

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