Confined spaces industrial inspection with micro aerial vehicles and laser range finder localization

This work addresses the problem of semi-automatic inspection and navigation in confined environments. A system that overcomes many challenges at the state of the art is presented. It comprises a multirotor able to inspect an industrial combustion chamber thus working in a GPS-denied environment with poor lighting conditions, in the presence of magnetic and communication disturbances, iron dust and repetitive patterns on the structure walls. The presented system is able to pass through narrow entrances but still capable of acquiring high resolution images and to allow operators to perform inspection of the structures. Starting from the captured data, the system is able to provide a 3D reconstruction of the inspected environment for offline analysis.