Optimized flight path for 3D mapping of an area with structures using a multirotor

This paper presents an optimized method to employ a multirotor for collecting images to generate a 3D map of an area of interest with attention to man-made structures in the area. A genetic algorithm is combined with space partitioning methods to find an optimized path to ensure complete coverage of a desired area with necessary overlap for generating a 3D map. This path provides for the collection of detailed information of man-made structures within the area and also consider areas of avoidance and adjust for problematic terrain (such as tall vegetation). The result is a flight path for a multirotor that includes waypoint, altitude, heading, and camera angle for all points along the flight path. This allows for the collection of all necessary images to produce a 3D map of the area with high resolution models of the buildings within the area.