A Fuzzy Control Based Method for Imaging Position Decision and Its Performance Evaluation

Unmanned Aerial Vehicles (UAVs) are utilized in various fields such as aerial shots, transportation, spraying chemicals in agriculture and surveys of plant growth in forestry. In particular, aerial photography by drones is used for 3D surveying. Compared to surveying from the ground, 3D surveying with a drone provides more accurate surveying and a wider area can be surveyed in a shorter period of time. Also, drones can be used to survey inaccessible areas while flying. The point cloud data obtained from 3D surveying are used in various fields such as topographical surveying, disaster assessment, and archaeological site surveying. Currently, the Structure from Motion (SfM) is the most widely used 3D surveying method in terms of technology and price. The SfM is a 3D surveying technique that uses multiple images of an object. Therefore, it is important that the captured images contain many feature points and an appropriate focal distance. In this paper, we propose a fuzzy control based imaging position decision method and 3D measurement method using 2DLiDAR. The experimental results show that the proposed system can provide 3D measurement using 2DLiDAR and can decide imaging position based on fuzzy control.