UAV-Based SLAM and 3D Reconstruction System

被引：0

作者：

Li, Tianwei ^{[1
]}

Hailes, Steve ^{[1
]}

Julier, Simon ^{[1
]}

Liu, Ming ^{[2
]}

机构：

[1] UCL, Comp Sci, London, England

[2] HKUST City Univ Hong Kong, Robot & Multipercept Lab RAM LAB, Shenzhen Res Inst, ECE & CSE Dept, Hong Kong, Peoples R China

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017) | 2017年

基金：

中国国家自然科学基金;

关键词：

UAV; SLAM; GPS; PMVS; LANDSLIDE;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

3D reconstructing a landscape is a prevalent problem that attracts a lot of interest in recent years. This project intended to verify whether the hypothesis of a UAV-based SLAM and 3D reconstruction system is practical. A GPS-Fused SLAM system is built based on ORB-SLAM. Inverse depth is also implemented to make the system suitable for a UAV-based platform. Meanwhile, REMODE is a depth filter and is tested as not being well enough as a dense mapping module. In the end, PMVS is implemented to build a dense map of the environment which produces a reasonable result. The small-scale-scene experiments produce the total error ratio of 5.60% in the x-y plane and 6.59% in the z axis.

引用

页码：2496 / 2501

页数：6

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