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Aerial mapping systems are important for many surveying applications (e.g.,industrial inspection or agricultural monitoring). Semi-autonomous mapping withGPS-guided aerial platforms that fly preplanned missions is already widelyavailable but fully autonomous systems can significantly improve efficiency.Autonomously mapping complex 3D structures requires a system that performsonline mapping and mission planning. This paper presents Osprey, an autonomousaerial mapping system with state-of-the-art multi-session mapping capabilities.It enables a non-expert operator to specify a bounded target area that theaerial platform can then map autonomously, over multiple flights if necessary.Field experiments with Osprey demonstrate that this system can achieve greatermap coverage of large industrial sites than manual surveys with a pilot-flownaerial platform or a terrestrial laser scanner (TLS). Three sites, with a totalground coverage of $7085$ m$^2$ and a maximum height of $27$ m, were mapped inseparate missions using $112$ minutes of autonomous flight time. True colourmaps were created from images captured by Osprey using pointcloud and NeRFreconstruction methods. These maps provide useful data for structuralinspection tasks.

Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning