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Dense Tracking and Mapping with a Quadrocopter

Sturm, Jürgen; Bylow, Erik LU ; Kerl, Christian; Kahl, Fredrik LU and Cremers, Daniel (2013) UAV-g 2013
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 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... (More)
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. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
quadrocopter, localization, 3D reconstruction, RGB-D sensors, real-time
conference name
UAV-g 2013
external identifiers
  • Scopus:84924654252
language
English
LU publication?
yes
id
b7448b35-9d44-463a-b13b-cc47c972c13c (old id 4249049)
date added to LUP
2014-02-05 20:35:20
date last changed
2016-10-13 05:01:48
@misc{b7448b35-9d44-463a-b13b-cc47c972c13c,
  abstract     = {In this paper, we present an approach for acquiring textured 3D<br/><br>
models of room-sized indoor spaces using a quadrocopter. Such<br/><br>
room models are for example useful for architects and interior<br/><br>
designers as well as for factory planners and construction man-<br/><br>
agers. The model is internally represented by a signed distance<br/><br>
function (SDF) and the SDF is used to directly track the camera<br/><br>
with respect to the model. Our solution enables accurate position<br/><br>
control of the quadrocopter, so that it can automatically follow a<br/><br>
pre-defined flight pattern. Our system provides live feedback of<br/><br>
the acquired 3D model to the user. The final model consisting of a<br/><br>
textured 3D triangle mesh can be saved in several standard CAD<br/><br>
file formats.},
  author       = {Sturm, Jürgen and Bylow, Erik and Kerl, Christian and Kahl, Fredrik and Cremers, Daniel},
  keyword      = {quadrocopter,localization,3D reconstruction,RGB-D sensors,real-time},
  language     = {eng},
  title        = {Dense Tracking and Mapping with a Quadrocopter},
  year         = {2013},
}