Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle

Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle

The use of robotic systems, especially multi-rotor aerial vehicles, in the documentation of historical buildings and cultural heritage monuments has become common in recent years. However, the teleoperated robotic systems have significant limitations encouraging the ongoing development of autonomous...

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Bibliographic Details
Published in:ISPRS international journal of geo-information Vol. 10; no. 11; p. 738
Main Authors: Krátký, Vít, Petráček, Pavel, Nascimento, Tiago, Čadilová, Michaela, Škobrtal, Milan, Stoudek, Pavel, Saska, Martin
Format: Journal Article
Language:English
Published: Basel MDPI AG 01-11-2021
Subjects:
Access
Accuracy
autonomous system
Cameras
Cultural heritage
cultural heritage conservation
Cultural resources
Digital technology
Digitization
Documentation
Drones
Historic buildings & sites
Historical buildings
historical monuments documentation
Lasers
Memorials & monuments
Monuments
multi-rotor aerial vehicles
Photogrammetry
Prototypes
Robots
Scaffolding
Scanners
Sensors
Unmanned aerial vehicles
Work platforms
Czech Republic
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Summary:The use of robotic systems, especially multi-rotor aerial vehicles, in the documentation of historical buildings and cultural heritage monuments has become common in recent years. However, the teleoperated robotic systems have significant limitations encouraging the ongoing development of autonomous unmanned aerial vehicles (UAVs). The autonomous robotic platforms provide a more accurate and safe measurement in distant and difficult to access areas than their teleoperated counterpart. Through the use of autonomous aerial robotic systems, access to such places by humans and building of external infrastructures like scaffolding for documentation purposes is no longer necessary. In this work, we aim to present a novel autonomous unmanned aerial vehicle designed for the documentation of hardly attainable areas of historical buildings. The prototype of this robot was tested in several historical monuments comprising scanned objects located in dark and hardly accessible areas in the upper parts of tall naves. This manuscript presents the results from two specific places: the Church of St. Anne and St. Jacob the Great in Stará Voda, and St. Maurice Church in Olomouc, both in the Czech Republic. Finally, we also compare the three-dimensional map obtained with the measurements made by the 3D laser scanner carried onboard UAV against the ones performed by a 3D terrestrial laser scanner.
ISSN:2220-9964
2220-9964
DOI:10.3390/ijgi10110738