Roof scan using unmanned aerial vehicle

1. An unmanned aerial vehicle comprising:

a propulsion mechanism,

one or more image sensors, and

a processing apparatus, wherein the processing apparatus is configured to:

capture, using the one or more image sensors, an overview image of a roof of a building from a first pose of the unmanned aerial vehicle positioned above the roof;

present a graphical representation of a suggested bounding polygon overlaid on the overview image to a user, wherein the suggested bounding polygon includes vertices corresponding to respective vertex icons of the graphical representation that enable the user to move the vertices within a plane;

determine a bounding polygon based on the suggested bounding polygon and data encoding user edits of one or more of the vertices of the suggested bounding polygon; and

determine a flight path based on the bounding polygon, wherein the flight path includes a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon.

2. The unmanned aerial vehicle of claim 1 , wherein the processing apparatus is configured to:

control the propulsion mechanism to cause the unmanned aerial vehicle to fly to assume a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof; and

scan the roof from the sequence of scan poses to generate a three-dimensional map of the roof.

3. The unmanned aerial vehicle of claim 1 , wherein the processing apparatus is configured to:

present a graphical representation of the unmanned aerial vehicle overlaid on the overview image, wherein the graphical representation of the unmanned aerial vehicle corresponds to a current horizontal position of the unmanned aerial vehicle.

4. The unmanned aerial vehicle of claim 2 , wherein the graphical representation of the unmanned aerial vehicle includes a three-dimensional rendering of the unmanned aerial vehicle.

5. The unmanned aerial vehicle of claim 2 , wherein the processing apparatus is configured to:

present indications of progress along the flight path overlaid on the overview image.

6. The unmanned aerial vehicle of claim 1 , wherein the processing apparatus is configured to:

determine the flight path based on one or more scan parameters presented for selection by the user, including one or more parameters from a set of parameters including a grid size, a nominal height above a surface of the roof, and a top flight speed.

7. The unmanned aerial vehicle of claim 1 , wherein the flight path is determined as a lawn-mower pattern.

8. The unmanned aerial vehicle of claim 1 , wherein the one or more image sensors are configured to support stereoscopic imaging to provide range data, and wherein the processing apparatus is configured to:

scan the roof using the one or more image sensors to generate the three-dimensional map of the roof.

9. The unmanned aerial vehicle of claim 7 , wherein the roof is scanned to generate the three-dimensional map from a distance greater than a consistent distance later used for facet imaging.

10. The unmanned aerial vehicle of claim 1 , comprising a radar sensor configured to provide range data, and wherein the processing apparatus is configured to:

scan the roof using the radar sensor to generate the three-dimensional map of the roof.

11. The unmanned aerial vehicle of claim 1 , comprising a lidar sensor configured to provide range data, and wherein the processing apparatus is configured to:

scan the roof using the lidar sensor to generate the three-dimensional map of the roof.

12. The unmanned aerial vehicle of claim 1 , wherein the processing apparatus is configured to:

detect, while flying between poses in the sequence of scan poses, an obstacle, wherein the detection is performed based on images captured using the one or more image sensors; and

dynamically adjust a pose of the flight path to avoid the obstacle.

13. The unmanned aerial vehicle of claim 1 , wherein the processing apparatus is configured to:

store a scan state indicating a next pose of the sequence of poses of the flight path;

control the propulsion mechanism to cause the unmanned aerial vehicle to fly to a landing spot and land the unmanned aerial vehicle;

after landing, control the propulsion mechanism to cause the unmanned aerial vehicle to take off from the landing spot;

access the scan state; and

based on the scan state, control the propulsion mechanism to cause the unmanned aerial vehicle to fly to assume a pose in the sequence of scan poses corresponding to the next pose and continue scanning the roof to generate the three-dimensional map.

14. A method comprising:

capturing, using one or more image sensors of an unmanned aerial vehicle, an overview image of a roof of a building from a first pose of the unmanned aerial vehicle positioned above the roof;

presenting a graphical representation of a suggested bounding polygon overlaid on the overview image to a user, wherein the suggested bounding polygon includes vertices corresponding to respective vertex icons of the graphical representation that enable the user to move the vertices within a plane;

accessing data encoding user edits of one or more of the vertices of the suggested bounding polygon;

determining a bounding polygon based on the suggested bounding polygon and the data encoding user edits;

determining a flight path based on the bounding polygon, wherein the flight path includes a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon;

controlling a propulsion mechanism to cause the unmanned aerial vehicle to fly to assume a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof; and

scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof.

15. The method of claim 14 , comprising:

presenting a graphical representation of the unmanned aerial vehicle overlaid on the overview image, wherein the graphical representation of the unmanned aerial vehicle corresponds to a current horizontal position of the unmanned aerial vehicle.

16. The method of claim 14 , comprising:

determining the flight path based on one or more scan parameters presented for selection by the user, including one or more parameters from a set of parameters including a grid size, a nominal height above a surface of the roof, and a top flight speed.

17. The method of claim 14 , wherein the flight path is determined as a lawn-mower pattern.

18. The method of claim 14 , comprising:

detecting, while flying between poses in the sequence of scan poses, an obstacle, wherein the detection is performed based on images captured using the one or more image sensors; and

dynamically adjusting a pose of the flight path to avoid the obstacle.

19. The method of claim 14 , comprising:

storing a scan state indicating a next pose of the sequence of poses of the flight path;

controlling the propulsion mechanism to cause the unmanned aerial vehicle to fly to a landing spot and land the unmanned aerial vehicle;

after landing, controlling the propulsion mechanism to cause the unmanned aerial vehicle to take off from the landing spot;

accessing the scan state; and

based on the scan state, controlling the propulsion mechanism to cause the unmanned aerial vehicle to fly to assume a pose in the sequence of scan poses corresponding to the next pose and continue scanning the roof to generate the three-dimensional map.

20. A non-transitory computer-readable storage medium that includes instructions that, when executed by a processor, facilitate performance of operations comprising:

capturing, using one or more image sensors of an unmanned aerial vehicle, an overview image of a roof of a building from a first pose of the unmanned aerial vehicle positioned above the roof;

presenting a graphical representation of a suggested bounding polygon overlaid on the overview image to a user, wherein the suggested bounding polygon includes vertices corresponding to respective vertex icons of the graphical representation that enable the user to move the vertices within a plane;

accessing data encoding user edits of one or more of the vertices of the suggested bounding polygon;

determining a bounding polygon based on the suggested bounding polygon and the data encoding user edits;

determining a flight path based on the bounding polygon, wherein the flight path includes a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon;

controlling a propulsion mechanism to cause the unmanned aerial vehicle to fly to assume a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof;

scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof; and

presenting indications of progress along the flight path overlaid on the overview image.