In this paper, an approach for a real-time three dimensional reconstruction of a dense point cloud, from images obtained with an unmanned aerial vehicle, is presented. The approach also estimates the model scale, using a known marker as reference, obtaining a fairly precise heightmap of the environment. The proposed image analysis framework is also capable of an off-line 3D reconstruction from monocular images, without known markers in the environment. The proposed framework is an adaptation of the Patch-based Multiview Stereo (PMVS) algorithm, in order to obtain a faster point cloud generation, suitable for real-time environment reconstruction. For the obtained heightmap, the error estimation ranges between 1–1.5 % for manual detection of marker and 4–5 % for automatic marker detection, which we consider is accurate enough for autonomous navigation and path planning.


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    Titel :

    Real-Time Reconstruction of Heightmaps from Images Taken with an UAV


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Zeghloul, Saïd (Herausgeber:in) / Laribi, Med Amine (Herausgeber:in) / Gazeau, Jean-Pierre (Herausgeber:in) / Ramirez-Torres, Jose Gabriel (Autor:in) / Larranaga-Cepeda, Ander (Autor:in)

    Erschienen in:

    Robotics and Mechatronics ; Kapitel : 22 ; 221-231


    Erscheinungsdatum :

    22.09.2015


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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