Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, 395-400, 2013
https://doi.org/10.5194/isprsarchives-XL-1-W2-395-2013
© Author(s) 2013. This work is distributed under
the Creative Commons Attribution 3.0 License.
 
16 Aug 2013
DENSE TRACKING AND MAPPING WITH A QUADROCOPTER
J. Sturm1, E. Bylow2, C. Kerl1, F. Kahl2, and D. Cremers1 1Computer Vision Group, Department of Computer Science, Technical University of Munich, Germany
2Mathematical Imaging Group, Centre for Mathematical Sciences Faculty of Engineering, Lund University, Sweden
Keywords: Quadrocopter, localization, 3D reconstruction, RGB-D sensors, real-time Abstract. 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 managers. 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.
Conference paper (PDF, 2788 KB)


Citation: Sturm, J., Bylow, E., Kerl, C., Kahl, F., and Cremers, D.: DENSE TRACKING AND MAPPING WITH A QUADROCOPTER, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, 395-400, https://doi.org/10.5194/isprsarchives-XL-1-W2-395-2013, 2013.

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