This project was envisioned as a way to demonstrate how open-source software, an
aerial vehicle, and inexpensive COTS hardware could be used to model a 3-dimensional
environment and provide visual odometry to an on-board flight controller to make
intelligent flight decisions. Using a simple structure from motion pipeline, point
cloud merging, and image processing, this project demonstrates an efficient way to
define a 3-dimensional area using only a monocular camera system and an on-board
computer.
