?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=UAV-based+SLAM+and+3D+reconstruction+system&rft.creator=Li%2C+T&rft.creator=Hailes%2C+S&rft.creator=Julier%2C+S&rft.creator=Liu%2C+M&rft.description=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%2C+REMODE+is+a+depth+filter+and+is+tested+as+not+being+well+enough+as+a+dense+mapping+module.+In+the+end%2C+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%25+in+the+x-y+plane+and+6.59%25+in+the+z+axis.&rft.publisher=IEEE&rft.date=2018-03-23&rft.type=Proceedings+paper&rft.language=eng&rft.source=+++++In%3A+++(Proceedings)+2017+IEEE+International+Conference+on+Robotics+and+Biomimetics+(ROBIO).+(pp.+pp.+2496-2501).++IEEE+(2018)+++++&rft.format=text&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10068313%2F1%2Fieee_tianwei.pdf&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10068313%2F&rft.rights=open