摘要翻译：
自主式室内飞行器需要可靠的地面定位和地图绘制(SLAM)、精确的飞行控制和鲁棒的导航路径规划。本文提出了一个系统级的组合，这些现有的技术为2D导航。一种名为URSA（无人侦察和安全飞机）的无人驾驶飞行器(UAV)被开发出来，它可以自主飞行，并在室内环境中测绘，精度为2厘米。在室内环境中的性能被评估在地图和导航精度方面。
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英文标题：
《Accurate indoor mapping using an autonomous unmanned aerial vehicle
  (UAV)》
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作者：
Lachlan Dowling, Tomas Poblete, Isaac Hook, Hao Tang, Ying Tan, Will
  Glenn, Ranjith R Unnithan
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最新提交年份：
2018
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分类信息：

一级分类：Computer Science        计算机科学
二级分类：Robotics        机器人学
分类描述：Roughly includes material in ACM Subject Class I.2.9.
大致包括ACM科目I.2.9类的材料。
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一级分类：Electrical Engineering and Systems Science        电气工程与系统科学
二级分类：Image and Video Processing        图像和视频处理
分类描述：Theory, algorithms, and architectures for the formation, capture, processing, communication, analysis, and display of images, video, and multidimensional signals in a wide variety of applications. Topics of interest include: mathematical, statistical, and perceptual image and video modeling and representation; linear and nonlinear filtering, de-blurring, enhancement, restoration, and reconstruction from degraded, low-resolution or tomographic data; lossless and lossy compression and coding; segmentation, alignment, and recognition; image rendering, visualization, and printing; computational imaging, including ultrasound, tomographic and magnetic resonance imaging; and image and video analysis, synthesis, storage, search and retrieval.
用于图像、视频和多维信号的形成、捕获、处理、通信、分析和显示的理论、算法和体系结构。感兴趣的主题包括：数学，统计，和感知图像和视频建模和表示；线性和非线性滤波、去模糊、增强、恢复和重建退化、低分辨率或层析数据；无损和有损压缩编码；分割、对齐和识别；图像渲染、可视化和打印；计算成像，包括超声、断层和磁共振成像；以及图像和视频的分析、合成、存储、搜索和检索。
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英文摘要：
  An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing technologies for 2D navigation. An Unmanned aerial vehicle (UAV) called URSA (Unmanned Recon and Safety Aircraft) that can autonomously flight and mapping indoors environments with an accuracy of 2 cm was developed. Performance in indoor environments was assessed in terms of mapping and navigation precision.
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PDF链接：
https://arxiv.org/pdf/1808.0194