Indoor 3D Mapping of a University Building with Tablet LiDAR for Drone Flight Simulation

This study focuses on creating detailed 3D maps of Ritsumeikan University's Rohm Plaza interior (the first to second floors) to facilitate safe navigation for robots and drones. Integrating external 3D maps with internal maps allows for a comprehensive 3D representation of the campus, enhancing operational safety. Utilizing the iPad Pro's LiDAR sensor and the application called “3D Scanner App”, we obtained 3D point cloud data, which was refined using Blender for Unreal Engine compatibility. The feasibility of simulations was verified through AirSim, demonstrating movements from outdoor to indoor environments, elevator access, and landing on the second-floor ground. This research lays the foundation for future advancements in drone navigation algorithms, aiming for automation of map editing processes and integration with self-positioning algorithms like ORB-SLAM3, based solely on drone camera imagery.