In this sample, we demonstrate results on a large outdoor scene. A 15 feet wall has a painting from an urban artist
as shown in the long range photograph on the left.
Figure 1: Autonomous imaging of a large outdoor scene.
To demonstrate path planning, the quadcopter explored the wall twice as indicated in the middle section. The path planning stage resulted in 37 positions at which images were captured. There were 12 locations for the first visit (top), and 25 locations for the second. Images captured from those positions are individually
mosaiced, and then combined to get the final mosaicing output as shown in the extreme right. Notice that the text "Where" is more clearly readable in the extreme right, than in either the left, or the middle.
