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Aerial archaeology
with FLOS
Hardware and Software
L. Bezzi
A. Bezzi
Introduction
Free and Open Source
Remote Sensing Platform
Two main components:
Software
Hardware
UAVP
ArcheOS
(a possible solution)
ArcheOS
Acronym: Archeological Operating System

The first GNU/Linux system developed for archeology

Current version: ArcheOS 4 (codename Caesar)

Based on Debian Squeeze

Released by Arc-Team under GPL

Freely available at: www.archeos.eu
ArcheOS
Software for remote sensing (photogrammetry)
e-foto
(a free digital photogrammetric workstation)
ArcheOS
Software for 3D documentation (SfM/IBM)
PPT
(user firendly interface for Bundler, CMVS, PMVS2)
ArcheOS
Software to manage geographic data (GIS)
GRASS - QGIS - VTP
(different software to process and analyze data)
UAVP
Acronym: Universal Aerial Video Platform

One of the first Open Source project aimed to build a
QuadCopter

Current version: NG-UAVP (Next Generation UAVP)

Based on Wolferl PCB (Printed Circuit Board)

Released under GPL

Freely available at: http://uavp.ch/moin/FrontPage
UAVP
Hardware for remote sensing (UAV)
basic configuration:

  1. frame
  2. motherboard
  3. processor
  4. gyroscope
  5. accelerometers
Attention! Obsolete prototype.
Better to use an NG-UAVP
UAVP
Hardware for remote sensing (Remote Control)
many options:

Futaba 6EXHP

Attention! Many options.
Carefully consider your
best solution
UAVP
Hardware for remote sensing (Remote Sensing Device)
many options:

Pentax Optio a40

PRISM (photography
Radio-Infrared Shutter
Module)

Attention! Many options.
Carefully consider your
best solution
Other OS UAVs
Paparazzi project
http://paparazzi.enac.fr/wiki/Main_Page

NG-UAVP
http://ng.uavp.ch/moin/FrontPage

ArduCopter
http://code.google.com/p/arducopter/

KKMulticopter
http://www.kkmulticopter.kr/
Open Spurce Unmanned Aerial Veicle
Warning!
Open Source UAVs are in continuous development,
as well as flying techniques. Innovations can radically
change the prototypes.

QuadCopters changed from the original "cross"
configuration to the new "X" structure (Xcopters).

The Direct Visual Flight is gradually replaced by First
Person View techniques.

GPS Integration has revolitioned both prototypes and
flying techniques.
Arc-Team's prototypes
UAVP
Model:
UAVP

Category:
QuadCopter

Remote Sensing Device:
Pentax + PRISM

License:
GPL

KKMulticopter
Model:
KKMulticopter

Category:
XCopter

Remote Sensing Device:
GoPro Hero 2

License:
Public Domain

DJ Naza
Model:
DJI F450

Category:
XCopter

Remote Sensing Device:
GoPro Hero 2

License:
Commercial

QuadCopter's structure
Frame
Propellers
Engines
Regulator
Reciver
Battery
Motherboard
QuadCopter 3D schema
Building an
Open Source
QuadCopter
ATOR
Step 1
building the frame
Step 2
building the ciruit
Step 3
building the PCB box
Step 4
assembling engine and  ESCs
(Electronic Speed Contrl)
Step 5
checking the rotation direction of the propellers
Step 6
fixing the reciver and the mainboard on the box
Step 7
final small adjustments
Step 8
an homemade UAV!
Possible cofigurations
"Cross"
Flight direction aligned
with one of the arms.
This configuration is
obsolete and it is not
optimize for remote
sensing (due the frontal
arm obstruction in the
camera view)
UAV
Flight direction between
two arms
This configuration is
ideal for remote
sensing (no obstruction
in the camera view)
UAV
"X"
Board camera fixed to
the frame
This configuration is
not optimize for remote
sensing (due to the
camera angle)
Remote Sensing
Device
"Mantis"
Board camera mounted
on a mobile device
This configuration is
ideal for remote
sensing (due to the
camera rotation on two
axes)
Remote Sensing
Device
"Cradle"
Possible flying techniques
Direct Visual Flight
First Person View
GPS
Warning!
Please consider different
flying condition
Wind and snow
UppÄkra,
lesson at Lund University
Indoor / Outdoor
Storo (chiesa di S. Andrea)
excavation
Case studies
Riva del Garda
Monte S. Martino
Archaeological area
Flight strategy
Camera test
Raw images
Undistorted images
3D pointcloud
Problems
Solutions
Trento
chiesa di S. Apollinare
Reconstructed telemtry
(high of flight)
Flight strategy
(panoramic pictures)
Picture comparison
Flight strategy
(3d pictures)
Original 3D pointcloud
Cleaned 3D pointcloud
Mesh
Colour
Final mesh
2D photomosaic
Storo (chiesa di S. Andrea)
US 162 (3D)
Some tips
Choose the right UAV for your project
For landscape projects an airplane model
probably works better
Crash happens
Kepp Calm and go on flying
Good flights!
Thanks for your attention!

"A pig who doesn't fly is just an ordinary pig."
Marco Pagot alias Porco Rosso
(Hayao Miyazaki and Studio Ghibli copyright)

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