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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    Title :

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


    Additional title:

    Mechan. Machine Science



    Published in:

    Robotics and Mechatronics ; Chapter : 22 ; 221-231


    Publication date :

    2015-09-22


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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