From Photons to Physics: Autonomous Indoor Drones and the Future of Objective Property Assessment
Petteri Teikari, Mike Jarrell, Irene Bandera Moreno, Harri Pesola

TL;DR
This paper reviews how autonomous indoor drones equipped with advanced physics-aware sensors and intelligent algorithms can revolutionize property assessment by providing objective, quantitative measurements instead of subjective visual inspections.
Contribution
It provides a comprehensive overview of the technical foundations and integration strategies for autonomous indoor drones in property assessment, highlighting recent innovations across multiple domains.
Findings
Enhanced platform architectures for indoor navigation
Advanced sensing modalities for material and surface characterization
Active reconstruction algorithms for strategic data collection
Abstract
The convergence of autonomous indoor drones with physics-aware sensing technologies promises to transform property assessment from subjective visual inspection to objective, quantitative measurement. This comprehensive review examines the technical foundations enabling this paradigm shift across four critical domains: (1) platform architectures optimized for indoor navigation, where weight constraints drive innovations in heterogeneous computing, collision-tolerant design, and hierarchical control systems; (2) advanced sensing modalities that extend perception beyond human vision, including hyperspectral imaging for material identification, polarimetric sensing for surface characterization, and computational imaging with metaphotonics enabling radical miniaturization; (3) intelligent autonomy through active reconstruction algorithms, where drones equipped with 3D Gaussian Splatting make…
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Taxonomy
TopicsRobotics and Sensor-Based Localization · Infrastructure Maintenance and Monitoring · 3D Surveying and Cultural Heritage
