ABSTRACTObjective:The project aimed to demonstrate a novel technique to create dense 3D maps of an environment using a quadrotor. Our approach was to map the environment using a nano camera mounted below the flying quadrotor and have the quadrotor continuously to capture the entire environment. Quadrotor:Aquadcopter,also called aquadrotor helicopter,quadrotor, is amultirotorhelicopterthat is lifted and propelled by fourrotors. Quadcopters are classified asrotorcraft, as opposed tofixed-wing aircraft, because theirliftis generated by a set ofrotors.3D mapping:3D projectionis any method of mapping three-dimensional points to a two-dimensional plane. As most current methods for displaying graphical data are based on planar two-dimensional media, the use of this type of projection is widespread, especially in computer graphics, engineering anddrafting.