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In a real-world experiment, the AscTec Neo Hexacopter MAV has been used to inspect the surface of two objects of interest, namely a piece of an old boiler and a structure composed of two wooden pallets.
After the flight, planned by the receding horizon next best view planner, the recorded image streams have been post-processed to obtain a point cloud and a surface mesh. Both are available for download to enable assessment of the achieved quality of these results.
A large bridge was explored (left) and inspected (right) in a complicated simulation scenario.
The Matlab figures can be downloaded here.