Dense Tracking and Mapping with a Quadrocopter
(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:
https://lup.lub.lu.se/record/4249049
- author
- Sturm, Jürgen ; Bylow, Erik LU ; Kerl, Christian ; Kahl, Fredrik LU and Cremers, Daniel
- organization
- publishing date
- 2013
- type
- Contribution to conference
- publication status
- published
- subject
- keywords
- quadrocopter, localization, 3D reconstruction, RGB-D sensors, real-time
- conference name
- UAV-g 2013
- conference location
- Rostock, Germany
- conference dates
- 2013-09-03 - 2013-09-06
- external identifiers
-
- scopus:84924654252
- language
- English
- LU publication?
- yes
- id
- b7448b35-9d44-463a-b13b-cc47c972c13c (old id 4249049)
- date added to LUP
- 2016-04-04 14:23:19
- date last changed
- 2022-01-30 01:55:40
@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}},
keywords = {{quadrocopter; localization; 3D reconstruction; RGB-D sensors; real-time}},
language = {{eng}},
title = {{Dense Tracking and Mapping with a Quadrocopter}},
url = {{https://lup.lub.lu.se/search/files/6349101/4249051.pdf}},
year = {{2013}},
}