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ity. Complexity is considered in comparison with a
regular grid approach and for a benchmark example.
Results point unambiguously in favor of the proposed
procedure. A procedure for aligning map coordinates
with the coordinates of an indoor positioning systems
is implemented in the developed SW application but
left out of this presentation for brevity.
We find the presented methodology to be a useful
candidate approach for user-friendly 3D mapping of
UAV flight spaces both as a stand-alone tool, but also
in combination with e.g. SLAM based solutions. One
could foresee our solution to define the initial map
to be subsequently refined over time with informa-
tion from a SLAM procedure. Such approaches along
with the presented extension possibilities of the map-
ping procedure outline directions for future research.
This along with formal proofs of conjectured feasi-
bility results which are only supported by convincing
statistical evidence in this paper. Formal feasibility
proofs would indeed be an indpendent result within
computational geometry.
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