Spatial Mapping of light aircraft with stereo-vision camera for use on Unmanned Aircraft System for defect localisation

Spatial mapping creates a 3D reconstruction of a visualised area to reproduce a perception of the environment. This can be applied in robotics for manoeuvring in environments where Global Navigation Satellite Systems (GNSSs) are inaccessible. Such devices capable of spatial mapping are stereo-vision cameras. These cameras possess two or more image sensors, simulating human binocular vision and giving it the ability to perceive depth. Using this hardware on an Unmanned Aircraft System (UAS) introduces new capabilities for autonomous navigation and unmanned control. This, in turn, introduces new possibilities for application. Such a use case would be for a General Visual Inspection (GVI) of aircraft in a hangar environment where access to GNSS is limited. Providing a flight plan to a UAS with a stereo-vision camera to assist with collision avoidance and to keep a consistent distance from the aircraft would provide a robust system for defect detection and localisation during a GVI.