  In this paper we address the problem of dot painting on a wall by a quadrotor
Micro Air Vehicle (MAV), using on-board low cost sensors (monocular camera and
IMU) for localization. A method is proposed to cope with uncertainties on the
initial positioning of the MAV with respect to the wall and to deal with walls
composed of multiple segments. This method is based on an online estimation
algorithm that makes use of information of physical contacts detected by the
drone during the flight to improve the positioning accuracy of the painted
dots. Simulation results are presented to assess quantitatively the efficiency
of the proposed approaches.
