3D Mapping with a Drone Equipped with a Depth Camera in Indoor Environment

Anotace: This paper presents a quadrotor drone designed for the 3D reconstruction of indoor environments using a depth camera and atracking camera. The drone's hardware and software components are described, including the Holybro X500V2 kit, the Intel RealSenseT265 tracking camera, and the Intel RealSense D435i depth camera. The paper outlines the process of building a complete TF tree,capturing point clouds with RtabMap, and streaming video. The drone's pose stabilization and successful test flight in an indoorenvironment are also discussed, including its ability to na vigate through indoor spaces and provide accurate data for 3Dreconstruction. The paper concludes with recommendations for future development, such as autonomous navigation and explorationof unknown areas. The results demonstrate the feasibility and potential of this drone for creating detailed and comprehensive maps ofindoor environments.