3D Digitization and Mapping of Heritage Monuments Using Low Cost Light Weight Unmanned Aerial Vehicle (UAV)

Abstract

Many archeological sites have been destroyed totally or partially around the globe due to earth quakes, oods and/or re. It is the need of time to digi- tally preserve the historical sites before they get destroyed. Acquiring visual and digital data of such historical sites using conventional methods poses challenges due to di culty in accessing these sites owing to their location and neighborhood. Recent innovations in Unmanned Aerial Vehicles (UAVs) have enabled to remotely sense and acquire data using aerial imagery. In this research photogrammetry is used to develop highly accurate photo realistic 3D models of archeological sites. Using aerial data acquired from a low cost and light weight UAV equipped with high resolution RGB sensor and image processing using photogramme- try tools highly accurate 3D model of an archeological site is formed. The main goals of this study were to conduct survey of a historical site in Pak- istan utilizing advanced robotics and photogrammetry stitching techniques to investigate the potential of UAV in producing geo-referenced 3D reconstruc- tion. The study is carried out to achieve an accuracy of within 5cm/pixel of the 3D model. The digitally preserved 3D models will help in both maintain- ing the historical site as well as reconstructing it in case of any damage. The 3D model produced can be quickly produced for inventory, architectural and facility management system. This method contributes in terms of quality, time and investment to acquire data compared to other methods which de- mand more time and investment. The automated ight stability and altitude control of the UAV and the fully stabilized and calibrated RGB sensor was optimally utilized for seeking high quality data that provided reliable results.