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UAV-based SLAM and 3D reconstruction system

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 Green open access

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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 > 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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