Corridor mapping

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Tool is intended to support liner object inspection, like power lines, roads and rivers. On such missions, drone can be equipped with photo or video-camera. It covers specified corridor with sensor footprint with certain overlap (both forward and side). Altitude is calculated automatically depending on specified GSD. Corridor is defined by specifying the following parameters:

Parameter Definition Mandatory
Turn type Turn type. Can be one of the following values:
When changing the vehicle, selected parameter remains
unchanged if supported by the new vehicle.
Width Corridor width in meters. Means adding Width/2 margin to the
left and right from the center line.
Integer, entered in inspector. By default, 30 or previously
entered value.
Speed Speed along the path. Default is value from vehicle profile or
previously entered value
Camera Drop down list with cameras attached to the vehicle profile.
Default is 1st camera in the profile or previously selected value.
GSD Ground sample distance. Default is 2cm or previously entered
Forward overlap Percentage of side overlap. Default is 30% or previously
entered value.
Side overlap Percentage of side overlap. Default is 30% or previously
entered value.
Camera top facing forward Camera top facing forward Yes
AGL Tolerance Allowable height difference, when it’s impossible to put
additional waypoints. An additional point is placed if it goes
beyond this boundary.
If not set should be treated as 0 (zero)
Avoid obstacles Avoid obstacles Yes
Altitude type AMSL/AGL. Default is AGL, or previously entered value. Yes
Action execution Action execution. Shows when actions are to be performed:
ONLY_AT_START - only at the starting point;
ACTIONS_EVERY_POINT - at each point;
ACTIONS_ON_FORWARD_PASSES - at each point of passes.
But when turning, the camera should turn off.
No actions at last point Do not perform actions at the last point Yes
Corridor center line Polyline. Defined manually on map or can be imported from
KML or CSV. Waypoints have no altitude and tied to the
elevation level.

Tool supports the same list of actions as photogrammetry tool. Default action is camera attitude, camera facing down and automatically triggered by distance. Automatic action parameters are being calculated the same way as for photogrammetry tool.
Route calculator may generate several passes if it is required to fulfill coverage and overlap constraints. The following rules should be applied:

Corridor mapping2.png

- passes are always parallel to the corridor center line
- if corridor can be covered by a single pass then one pass coinciding center line is enough
- if one pass is not enough, calculator will try to cover corridor with minimal possible number of passes balancing number of passes on the left and right sides from the center line
- It always keeps drone trajectory inside the corridor
Obstacle avoidance behavior is the same as in photogrammetry tool.
Altitude calculation from GSD is the same as for photogrammetry tool.