Small Unmanned Aerial Vehicles (UAVs) exhibit immense potential for navigating indoor and hard-to-reach areas, yet their significant constraints in payload and autonomy have largely prevented their use for complex tasks like high-quality 3-Dimensional (3D) reconstruction. To overcome this challenge, we introduce a novel system architecture that enables fully autonomous, high-fidelity 3D scanning of static objects using UAVs weighing under 100 grams. Our core innovation lies in a dual-reconstruction pipeline that c…