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Given the explosive growth of Internet of Things (IoT) devices ranging fromthe two-dimensional (2D) ground to the three-dimensional (3D) space, it is anecessity to establish a 3D spectrum map to comprehensively present andeffectively manage the 3D spatial spectrum resources in smart cityinfrastructures. By leveraging the popularity and location flexibility of theunmanned aerial vehicles (UAVs), we are able to execute spatial sampling withthese emerging flying spectrum-monitoring devices (SMDs) at will. In thispaper, we first present a brief survey to show the state-of-the-art studies onspectrum mapping. Then, we introduce the 3D spectrum mapping model. Next, wepropose a 3D spectrum mapping framework which is composed of pre-sampling,spectrum situation estimation, UAV deployment and spectrum recovery. Therein wedevelop a Region of Interest (ROI)-driven UAV deployment scheme, which selectsnew sampling points of the highest estimated interest and the lowest energycost iteratively. Meanwhile, we slice the entire 3D spectrum map into a seriesof "images" and "repair" those unsampled locations. Furthermore, we provide anexemplary case study on the 3D spectrum mapping, where, for example, animportant event is being held and the entire spectrum situation needs to bemonitored in real time to deal with malicious interference sources. Lastly, thechallenges and open issues are discussed.

3D Spectrum Mapping Based on ROI-Driven UAV Deployment