NSC/ Architecture design and software development for UAV-based multi-sensor mapping system

对于城市规划、矿业、环境监测、导航、监视、管道检查、基础设施监测、滑坡危害分析、室内定位和军事模拟等非传统测绘应用来说，精确的环境3D重建已经变得至关重要。传统的制图不能满足这些应用的需要，因为传统的制图是基于专门为制图目的而设计的数据采集系统。硬件和软件开发的最新进展使得无需使用昂贵的高端数据采集系统即可进行精确的3D绘图成为可能。低成本的数码相机、激光扫描仪和导航系统如果在硬件和软件层面得到适当的集成，就可以提供精确的地图。无人驾驶飞行器（uav）作为一种移动地图平台正在兴起，它可以提供额外的经济和实用优势。与载人系统相比，无人机在较低高度和较慢速度飞行的能力允许它们以更高的分辨率捕获数据。此外，这些系统可以经济地存储和部署。这些特点使无人机成为经济实惠的快速响应测绘应用的最佳平台。这些效益的实现是当前和未来无人机生产和应用增长的主要原因。例如，目前的无人机全球市场估计为72亿美元，预计到2018年将达到510亿美元。尽管其潜力已被证明，但基于无人机的测绘相关研究缺乏使其成为可接受的测绘工具所需的条件。​

Accurate 3D reconstruction of our environment has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems that are designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs) are emerging as a mobile mapping platform that can provide additional economical and practical advantages. The ability of UAVs to fly at lower elevation and slower speed than manned systems allows them to capture data with higher resolution. Moreover, these systems can be economically stored and deployed. These characteristics make UAVs an optimal platform for affordable rapid-response mapping applications. The realization of these benefits is the main reason behind the current and future growth in UAV production and applications. For example, the current UAV global markets, which are estimated to be at $7.2 billion, are anticipated to reach $51 billion by 2018. In spite of its proven potential, the research related to UAV-based mapping is lacking in terms of what is needed for it to become an acceptable mapping tool. This proposal, which is a joint submission under the international collaborations program with the National Science Council of Taiwan with academic and industrial collaborators in both countries, aims at developing system architecture for a low-cost UAV mapping using directly georeferenced passive and active optical imaging systems as well as the necessary tools/algorithms for flexible UAV-based 3D mapping while considering the posed challenges by using non-mapping grade sensors.