Roof scan using unmanned aerial vehicle

A method comprising:

• capturing, using one or more image sensors of an unmanned aerial vehicle, an overview image of a roof of a building from a first pose of the unmanned aerial vehicle positioned above the roof;
• presenting a graphical representation of a suggested bounding polygon overlaid on the overview image to a user, wherein the suggested bounding polygon includes vertices corresponding to respective vertex icons of the graphical representation that enable the user to move the vertices within a plane;
• accessing data encoding user edits of one or more of the vertices of the suggested bounding polygon;
• determining a bounding polygon based on the suggested bounding polygon and the data encoding user edits;
• determining a flight path based on the bounding polygon, wherein the flight path includes a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon;
• controlling a propulsion mechanism to cause the unmanned aerial vehicle to fly to assume a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof;
• and
• scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof.

A non-transitory computer-readable storage medium that includes instructions that, when executed by a processor, facilitate performance of operations comprising:

• capturing, using one or more image sensors of an unmanned aerial vehicle, an overview image of a roof of a building from a first pose of the unmanned aerial vehicle positioned above the roof;
• presenting a graphical representation of a suggested bounding polygon overlaid on the overview image to a user, wherein the suggested bounding polygon includes vertices corresponding to respective vertex icons of the graphical representation that enable the user to move the vertices within a plane;
• accessing data encoding user edits of one or more of the vertices of the suggested bounding polygon;
• determining a bounding polygon based on the suggested bounding polygon and the data encoding user edits;
• determining a flight path based on the bounding polygon, wherein the flight path includes a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon;
• controlling a propulsion mechanism to cause the unmanned aerial vehicle to fly to assume a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof;
• scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof;
• and
• presenting indications of progress along the flight path overlaid on the overview image.