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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="AirInspect: Autonomous indoor scanning with a drone-mounted iPhone, featuring real-time server-side sharing and multi-user viewing on the web via A-Frame.">
<meta name="keywords" content="AirInspect, indoor scanning, drone, iPhone, A-Frame, WebXR, SLAM">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>AirInspect: Low-Cost Indoor 3D Reconstruction and Targeted Web Inspection with Smartphone-Mounted UAVs</title>
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<!-- NEW: quick anchor to News section --> <a class="navbar-item" href="#iphone-mount">iPhone Mount</a>
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<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">AirInspect: Low-Cost Indoor 3D Reconstruction and Targeted Web Inspection with Smartphone-Mounted UAVs</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="">Nojin Park</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="">Ji Hyun Seo</a><sup>1,2</sup>,
</span>
<span class="author-block">
<a href="">Byounhyun Yoo</a><sup>1,3</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Intelligence and Interaction Research Center, Korea Institute of Science and Technology</span>
<span class="author-block"><sup>2</sup>Department of Computer Science and Engineering, Korea University</span>
<span class="author-block"><sup>3</sup>AI-Robotics, KIST School, Korea National University of Science and Technology</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
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class="external-link button is-normal is-rounded is-dark">
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<i class="fab fa-youtube"></i>
</span>
<span>Video</span>
</a>
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class="external-link button is-normal is-rounded is-dark">
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</span>
<span>Code</span>
</a>
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</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<div class="publication-video" id="teaser-video">
<iframe
src="https://www.youtube.com/embed/mgSrh6C3a68?rel=0&showinfo=0&autoplay=0&mute=1&loop=1&playlist=mgSrh6C3a68&modestbranding=1&playsinline=1"
frameborder="0"
allow="autoplay; encrypted-media; picture-in-picture; web-share"
allowfullscreen>
</iframe>
</div>
<h2 class="subtitle has-text-centered">
AirInspect Low-Cost Indoor 3D Reconstruction and Targeted Web Inspection with Smartphone-Mounted UAVs
</h2>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
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<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
<strong>AirInspect</strong> is a low-cost 3D reconstruction and remote inspection system built from
commercial UAVs and consumer smartphones (e.g., iPhones). By relying on off-the-shelf
hardware and existing software libraries, the system remains broadly compatible across
different UAV vendors with minimal customization.
</p>
<p>
In our workflow, a drone-mounted smartphone performs autonomous indoor scanning while a
server streams results to the web for real-time, multi-user viewing via A-Frame. The system
first produces a coarse 3D reconstruction to provide users a global overview of the space.
For practical inspection tasks, users can then request targeted remote monitoring to quickly
examine specific regions of interest—such as cracks or defects—through high-resolution 2D
imagery before triggering more time-consuming accurate reconstruction.
</p>
<p>
This dual-stage design emphasizes practicality, cost efficiency, and universality, making
AirInspect a promising solution for real-world indoor inspection and monitoring scenarios.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
</div>
</section>
<section class="section" id="iphone-mount">
<div class="container is-max-desktop">
<!-- iPhone Mount Section. -->
<div class="columns is-centered">
<div class="column is-full">
<h2 class="title is-3">iPhone Mount</h2>
<div class="columns is-multiline is-variable is-3">
<div class="column is-half">
<figure class="image is-4by3 holder-frame no-crop">
<img src="./static/images/onShape 1.png" alt="iPhone Mount Image 1 (assembled view)" loading="lazy">
<figcaption class="has-text-grey is-size-7 has-text-centered" style="margin-top:.25rem">
Assembled iPhone mount. <strong>Blue parts are rubber damping pads</strong> for vibration isolation.
</figcaption>
</figure>
</div>
<div class="column is-half">
<figure class="image is-4by3 holder-frame no-crop">
<img src="./static/images/onShape 2.png" alt="iPhone Mount Image 2 (exploded view)" loading="lazy">
<figcaption class="has-text-grey is-size-7 has-text-centered" style="margin-top:.25rem">
Exploded view showing the layered structure and <strong>blue rubber pads</strong> at the frame interface and phone grips.
</figcaption>
</figure>
</div>
<div class="column is-half">
<figure class="image is-4by3 holder-frame">
<img src="./static/images/hardware Model 2.png" alt="iPhone Mount Image 3" loading="lazy">
</figure>
</div>
<div class="column is-half">
<figure class="image is-4by3 holder-frame">
<img src="./static/images/hardware Model 1.png" alt="iPhone Mount Image 4" loading="lazy">
</figure>
</div>
</div>
<div class="content" style="margin-top:1rem">
<h3 class="title is-4">iPhone Mount Design</h3>
<p>
We designed a lightweight iPhone mount for UAVs with three goals:
<strong>vibration isolation</strong>, <strong>unobstructed camera FoV</strong>, and
<strong>preserved center of gravity</strong>. Rubber <strong>damping pads (shown in blue in the CAD renders)</strong>
are placed between the mount and the airframe and on the phone grips to decouple propeller-induced vibrations from
the camera and IMU, improving real-time localization and 3D reconstruction. The mount keeps the phone offset from
frame elements to avoid occlusions, and its position is tuned to align the combined mass with the vehicle’s centerline.
The parts are <strong>3D-printed in PLA (~50 g)</strong> and tested in flight, showing stable fixation and reduced drift error.
</p>
<ul>
<li><strong>Vibration isolation:</strong> Blue rubber pads at frame interface and phone grips attenuate high-frequency jitter.</li>
<li><strong>Camera visibility:</strong> Offset/angle placement prevents frame occlusion in the camera’s field of view.</li>
<li><strong>Balance:</strong> Mount location preserves CG near the airframe axis for stable flight.</li>
<li><strong>Build:</strong> PLA 3D-printed (~50 g), validated in flight with improved localization stability.</li>
</ul>
</div>
</div>
</div>
<!--/ Holder Section. -->
</div>
</section>
<!-- ===================== News section (below iPhone Mount) ===================== -->
<section class="section" id="news">
<div class="container is-max-desktop">
<h2 class="title is-3">News</h2>
<div class="box news">
<!-- Newest first; Project website was done first chronologically (oldest date). -->
<article class="media">
<figure class="media-left date-badge">
<p class="tag is-dark is-medium"><time datetime="2025-11-12">2025-11-12</time></p>
</figure>
<div class="media-content">
<p>
<strong>Teaser video uploaded</strong> — Short overview on YouTube. <a href="https://youtu.be/mgSrh6C3a68" target="_blank" rel="noopener">Open video</a>.
</p>
</div>
</article>
<hr class="my-3">
<article class="media">
<figure class="media-left date-badge">
<p class="tag is-dark is-medium"><time datetime="2025-11-10">2025-11-10</time></p>
</figure>
<div class="media-content">
<p>
<strong>iPhone Mount uploaded</strong> — Added assembly and exploded views in the <a href="#iphone-mount">iPhone Mount</a> section with vibration-damping details.
</p>
</div>
</article>
<hr class="my-3">
<article class="media">
<figure class="media-left date-badge">
<p class="tag is-dark is-medium"><time datetime="2025-11-08">2025-11-08</time></p>
</figure>
<div class="media-content">
<p>
<strong>Project website launched</strong> — Initial public page for AirInspect is live. Watch the <a href="#teaser-video">teaser</a> and check the <a href="#iphone-mount">iPhone Mount</a> preview.
</p>
</div>
</article>
</div>
</div>
</section>
<!-- =================== /News section ===================== -->
<!-- ===================== Contact section ===================== -->
<section class="section" id="contact">
<div class="container is-max-desktop">
<h2 class="title is-3">Contact</h2>
<div class="content">
<p>
<strong>AirInspect</strong> is a open-source project from the
<a href="https://wrl.kist.re.kr/" target="_blank" rel="noopener">Webizing Research Lab (WRL)</a> at KIST,
supervised by <strong>Prof. Byounghyun Yoo</strong>.
</p>
<p>
We study autonomous indoor scanning with smartphone-mounted UAVs, practical 3D reconstruction pipelines, and web-based multi-user inspection.
It is maintained by the WRL team, see the <a href="https://wrl.kist.re.kr/people/members" target="_blank" rel="noopener">team member list</a>.
</p>
<p>
We welcome suggestions and collaboration from academia and industry—for example integration with facility workflows, reproducible datasets, deployment pilots, or media inquiries.
If you are interested in using or contributing to AirInspect, please <a href="https://wrl.kist.re.kr/contact-us" target="_blank" rel="noopener">contact us</a>.
</p>
</div>
</div>
</section>
<!-- =================== /Contact section ===================== -->
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>@article{park2021nerfies,
author = {Park, Keunhong and Sinha, Utkarsh and Barron, Jonathan T. and Bouaziz, Sofien and Goldman, Dan B and Seitz, Steven M. and Martin-Brualla, Ricardo},
title = {Nerfies: Deformable Neural Radiance Fields},
journal = {ICCV},
year = {2021},
}</code></pre>
</div>
</section>
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