bentwing is an airborne mapping system that builds 3D maps of environments using a laser scanner. The lightweight scanning payload includes a Hokuyo UTM-30LX-F laser scanner that is rotated using the downdraft from the quadcopter. Custom-designed wings convert the downdraft into rotational motion that spins the laser, extending its field of view from 2D to 3D.

bentwing was developed at CSIRO and uses the same sensors and data processing software as our handheld 3D mapping system, Zebedee: http://youtu.be/DUEAz_naHHg

bentwing has been used to map a variety of environments including: interiors and exteriors of buildings, forests, cultural heritage sites, mines and quarries, and caves. This video shows a few examples including one of the first cave sections scanned at Jenolan Caves, a marble quarry in the Wombeyan Caves area, a cultural heritage site (Peel Island Lazaret), and an industrial work area.

Technical details and more example applications are available in a journal article:
Lukas Kaul, Robert Zlot,…