Automated aerial data capture for 3d modeling of unknown objects in unknown environments

A system for automated data capture for photogrammetry and model building of an unknown target object, comprising:

• a processor;
• and
• a memory having modules stored thereon to perform instructions when executed by the processor, the modules comprising:
• a planner module configured to:
• generate a flight plan for a camera drone to fly autonomously on a flight path along a virtual polygon grid during a survey phase of operation, the virtual polygon grid defined at an altitude above the target object and situated parallel to a ground level surface;
• a model builder computer configured to:
• receive a point cloud dataset using data captured by at least one LiDAR sensor mounted to the camera drone;
• and
• construct a low resolution 3D mesh of the target object based on the point cloud dataset;
• wherein the planner module is further configured to:
• generate a flight path with virtual waypoints surrounding the target object at a marginal distance from the surface defined by the low resolution 3D mesh;
• and
• wherein the model builder computer is further configured to:
• receive high resolution images of the target object captured from a camera mounted on the camera drone flying autonomously on the flight path during an inspection phase;
• and
• build a high resolution 3D model of the target object using photogrammetry processing of the high resolution images during a model building phase.