An Autonomous Mapping Approach for Confined Spaces Using Flying Robots

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Mapping a confined space with a drone-based system becomes challenging when vision sensors cannot be used due to environmental constraints. This paper presents a novel scan-matching approach based on an Iterative Closest Point algorithm that uses low-rate and low-dense scans from a LiDAR. The proposed technique only employs the horizontal layer from a 3D LiDAR to estimate the transformation matrices in a computationally efficient fashion, which is then used to generate the 3D map of the scanned environment in real-time. This is, then, complemented with a fit-for-purpose indoor navigation path-planning strategy. The method was successfully tested by mapping a confined space within a cement plant simulated environment and estimating a stockpile volume stored in that space. The volume of the reconstructed stockpile was estimated with an error as low as 3%, which matches the accuracy levels recommended by relevant regulations.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems
Subtitle of host publication22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings
EditorsCharles Fox, Junfeng Gao, Amir Ghalamzan Esfahani, Mini Saaj, Marc Hanheide, Simon Parsons
PublisherSpringer Nature
Number of pages11
ISBN (Print)9783030891763
Publication statusPublished - 2021
Event22th Annual Conference Towards Autonomous Robotic Systems, TAROS 2021 - Virtual, Online
Duration: 8 Sep 202110 Sep 2021

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349
NameLecture Notes in Artificial Intelligence
NameTAROS: Annual Conference Towards Autonomous Robotic Systems


Conference22th Annual Conference Towards Autonomous Robotic Systems, TAROS 2021
CityVirtual, Online


  • Autonomous
  • Confined spaces
  • Flying robots
  • Mapping


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