@inproceedings{discovery10068313,
            note = {This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions.},
          volume = {2018-J},
       booktitle = {2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
           pages = {2496--2501},
           month = {March},
         journal = {2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017},
           title = {UAV-based SLAM and 3D reconstruction system},
            year = {2018},
       publisher = {IEEE},
          author = {Li, T and Hailes, S and Julier, S and Liu, M},
        abstract = {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.},
             url = {https://doi.org/10.1109/ROBIO.2017.8324795}
}