Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs
Dense point cloud (from virtual stereo pair, 2 images) |
Digital Surface Map (DSM, exported as GeoTiff) |
(Ortho-)Mosaic (from homography, 249 images) |
---|---|---|
Raw images | Dense point cloud | Digital Surface Map |
---|---|---|
Observation Angle (red: nadir) |
Grid-based Orthomosaic (Cell resolution: 0.5m) |
Textured DSM |
If you use this work in an academic context, please cite the following publication:
T. Hinzmann, J. L. Schönberger, M. Pollefeys, and R. Siegwart, "Mapping on the Fly: Real-time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles" [PDF]
@INPROCEEDINGS{fsr_hinzmann_2017,
Author = {T. Hinzmann, J. L. Schönberger, M. Pollefeys, and R. Siegwart},
Title = {Mapping on the Fly: Real-time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles},
Booktitle = {Field and Service Robotics - Results of the 11th International Conference},
Year = {2017}
}
This work was partially funded by the European FP7 project SHERPA (FP7-600958) and the Federal office armasuisse Science and Technology under project number 050-45. Furthermore, the authors wish to thank Lucas P. Teixeira from the Vision for Robotics Lab at ETH Zurich for sharing scripts that bridge the gap between Blender and Gazebo.