TY  - GEN
N1  - This version is the author accepted manuscript. For information on re-use, please refer to the publisher?s terms and conditions.
TI  - UAV-based SLAM and 3D reconstruction system
AV  - public
Y1  - 2018/03/23/
SP  - 2496
EP  - 2501
A1  - Li, T
A1  - Hailes, S
A1  - Julier, S
A1  - Liu, M
N2  - 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.
ID  - discovery10068313
UR  - https://doi.org/10.1109/ROBIO.2017.8324795
PB  - IEEE
ER  -