3D VISUALIZATION OF A ROOM USING A GROUND-BASED DRONE
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Date
2025-06-09
Authors
Shevchenko, Dmytro
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Abstract
This project presents the design and implementation of a low-cost, mobile 3D scanning system using the Intel RealSense
D435i RGB-D camera mounted on a wheeled rover. The system
performs indoor environment reconstruction by alternating
between precise 360° panoramic scans and short forward
movements, accumulating depth data at each waypoint.
Combining IMU feedback, servo control, and depth sensing, it
builds point clouds without high-end LiDAR. The result is a 3D
model suitable for tasks like inspection, logistics, or demining
support. The modular software stack, based on Open3D and
Python, enables fast prototyping and flexible deployment in
real-world environments
Description
Keywords
3D scanning, drone, rover, 3D
Citation
Shevchenko, Dmytro. (2025). 3D VISUALIZATION OF A ROOM USING A GROUND-BASED DRONE. Kyiv: American University Kyiv.