Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle

The use of robotic systems, especially multi-rotor aerial vehicles, in the documentation historical buildings and cultural heritage monuments has become common recent years. However, teleoperated systems have significant limitations encouraging ongoing development autonomous unmanned vehicles (UAVs). platforms provide a more accurate safe measurement distant difficult to access areas than their counterpart. Through such places by humans building external infrastructures like scaffolding for purposes is no longer necessary. In this work, we aim present novel vehicle designed hardly attainable buildings. prototype robot was tested several comprising scanned objects located dark accessible upper parts tall naves. This manuscript presents results from two specific places: Church St. Anne Jacob Great Stará Voda, Maurice Olomouc, both Czech Republic. Finally, also compare three-dimensional map obtained with measurements made 3D laser scanner carried onboard UAV against ones performed terrestrial scanner.