Deck Title

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:

frame
motherboard
processor
gyroscope
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

Uppåkra,

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)