Li, T;
Hailes, S;
Julier, S;
Liu, M;
(2018)
UAV-based SLAM and 3D reconstruction system.
In:
(Proceedings) 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO).
(pp. pp. 2496-2501).
IEEE
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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.
| Type: | Proceedings paper |
|---|---|
| Title: | UAV-based SLAM and 3D reconstruction system |
| Event: | 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) |
| ISBN-13: | 9781538637418 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/ROBIO.2017.8324795 |
| Publisher version: | https://doi.org/10.1109/ROBIO.2017.8324795 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10068313 |
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