The proposed technology is a fully integrated navigation solution for urban structure inspection. The system is built on a visual-inertial-range-and-LIDAR (VIRAL) fusion-based simultaneous localization and mapping system (SLAM). The VIRAL SLAM can work both indoor and outdoor in all lighting conditions. In urban navigation, the GPS is likely to suffer from a multi-path effect. The proposed system can effectively solve the multi-path effect drift problem. The proposed system does not drift and can achieve mm-level accuracy.
On top of the robust SLAM system, a fast auto path planning system is introduced for easy path generation and flight control. Even the simple manual input path is far away from the actual object, the auto replanned path can keep a fixed distance away from the building and perform inspection. Thus detailed texture can be obtained and be processed by AI system for defect analysis.

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