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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Autores principales:	Vít Krátký, Pavel Petráček, Tiago Nascimento, Michaela Čadilová, Milan Škobrtal, Pavel Stoudek, Martin Saska
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	multi-rotor aerial vehicles historical monuments documentation autonomous system cultural heritage conservation Geography (General) G1-922
Acceso en línea:	https://doaj.org/article/b623525a937e4262b8dc5b54ea80d526
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id	oai:doaj.org-article:b623525a937e4262b8dc5b54ea80d526
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spelling	oai:doaj.org-article:b623525a937e4262b8dc5b54ea80d5262021-11-25T17:52:52ZSafe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle10.3390/ijgi101107382220-9964https://doaj.org/article/b623525a937e4262b8dc5b54ea80d5262021-10-01T00:00:00Zhttps://www.mdpi.com/2220-9964/10/11/738https://doaj.org/toc/2220-9964The 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.Vít KrátkýPavel PetráčekTiago NascimentoMichaela ČadilováMilan ŠkobrtalPavel StoudekMartin SaskaMDPI AGarticlemulti-rotor aerial vehicleshistorical monuments documentationautonomous systemcultural heritage conservationGeography (General)G1-922ENISPRS International Journal of Geo-Information, Vol 10, Iss 738, p 738 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	multi-rotor aerial vehicles historical monuments documentation autonomous system cultural heritage conservation Geography (General) G1-922
spellingShingle	multi-rotor aerial vehicles historical monuments documentation autonomous system cultural heritage conservation Geography (General) G1-922 Vít Krátký Pavel Petráček Tiago Nascimento Michaela Čadilová Milan Škobrtal Pavel Stoudek Martin Saska Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle
description	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.
format	article
author	Vít Krátký Pavel Petráček Tiago Nascimento Michaela Čadilová Milan Škobrtal Pavel Stoudek Martin Saska
author_facet	Vít Krátký Pavel Petráček Tiago Nascimento Michaela Čadilová Milan Škobrtal Pavel Stoudek Martin Saska
author_sort	Vít Krátký
title	Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle
title_short	Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle
title_full	Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle
title_fullStr	Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle
title_full_unstemmed	Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle
title_sort	safe documentation of historical monuments by an autonomous unmanned aerial vehicle
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/b623525a937e4262b8dc5b54ea80d526
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Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle

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