The experiment takes place in the Autonomous Robots
Arena facilities of the University of Nevada, Reno and relies
on the previously described custom–built autonomous aerial
robot that is capable of GPS–denied flight due to its visual–
inertial navigation solution. No support from the motion capture
system is provided. The structural inspection planner is
utilized to derive the initial inspection path, while during the
operation a human is using the head–mounted AR–interface
to keep track of the camera data collected by the robot as well
as of the progress of the online 3D reconstruction. Within
the subset of the experiment that the robot is facing towards
the Wattmeter indication, the human is commanding additional
viewpoints through appropriate head motion. Figure 5
presents the derived experimental results, while a video of
the experiment –annotated with the Augmented Reality data
and user commands– is provided online at http://www.
kostasalexis.com/augmented-reality.html.