Towards a Cooperative Method for 3D Magnetic Maps Generation using Small and Autonomous Aerial Robots

Author(s): Azpúrua, Héctor; Potje, Guilherme A.; Rezeck, Paulo A. F.; Pimentel,Bruno; Freitas, Gustavo M.; Garcia, Luis G. U.; Nascimento, Erickson R.; Macharet, Douglas G.; Campos, Mario F. M.
Summary: In this proposal, we deal with the problem of generating 3D magnetic maps using cooperative and autonomous aerial robots. We propose a novel approach for autonomous mapping using a custom fluxgate magnetometer and multiple commercial cameras embedded on the aerial platforms. We also present a novel method for generating a Digital Magnetic Elevation Model (DEM) from the gathered data. Our method was validated in simulation and real experiments. Results have shown high accuracy in the measurements generated from the DEM model and an accurate estimated magnetic representation of metal objects placed in a test scenario.
Journal: International Conference on Intelligent Robots and Systems (IROS)
Year: 2017
Pages: p. 1-1
Publisher and ISSN: IEEE