Dense Tracking and Mapping with a Quadrocopter
Author
Summary, in English
In this paper, we present an approach for acquiring textured 3D
models of room-sized indoor spaces using a quadrocopter. Such
room models are for example useful for architects and interior
designers as well as for factory planners and construction man-
agers. The model is internally represented by a signed distance
function (SDF) and the SDF is used to directly track the camera
with respect to the model. Our solution enables accurate position
control of the quadrocopter, so that it can automatically follow a
pre-defined flight pattern. Our system provides live feedback of
the acquired 3D model to the user. The final model consisting of a
textured 3D triangle mesh can be saved in several standard CAD
file formats.
models of room-sized indoor spaces using a quadrocopter. Such
room models are for example useful for architects and interior
designers as well as for factory planners and construction man-
agers. The model is internally represented by a signed distance
function (SDF) and the SDF is used to directly track the camera
with respect to the model. Our solution enables accurate position
control of the quadrocopter, so that it can automatically follow a
pre-defined flight pattern. Our system provides live feedback of
the acquired 3D model to the user. The final model consisting of a
textured 3D triangle mesh can be saved in several standard CAD
file formats.
Department/s
Publishing year
2013
Language
English
Full text
Document type
Conference paper
Topic
- Computer Vision and Robotics (Autonomous Systems)
- Mathematics
Keywords
- quadrocopter
- localization
- 3D reconstruction
- RGB-D sensors
- real-time
Conference name
UAV-g 2013
Conference date
2013-09-03 - 2013-09-06
Conference place
Rostock, Germany
Status
Published
Research group
- Mathematical Imaging Group