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View Planning for Multi-View Stereo 3D Reconstruction Using an Autonomous Multicopter

Schmid, Korbinian and Hirschmüller, Heiko and Dömel, Andreas and Grixa, Iris and Suppa, Michael and Hirzinger, Gerd (2012) View Planning for Multi-View Stereo 3D Reconstruction Using an Autonomous Multicopter. Journal of Intelligent & Robotic Systems, Volume (1), pp. 309-323. Springer. DOI: 10.1007/s10846-011-9576-2. ISSN 0921-0296.

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Official URL: http://www.springerlink.com/content/e14143527885k811/


Multi-view stereo algorithms are an attractive technique for the digital reconstruction of outdoor sites. Concerning the data acquisition process a vertical take off and landing UAV carrying a digital camera is a suitable platform in terms of mobility and flexibility in viewpoint placement. We introduce an automated UAV based data acquisition and outdoor site reconstruction system. A special focus is set on the problem of model based view planning using a coarse digital surface model (DSM) with minimal data preprocessing. The developed view planning heuristic considers a coverage, a maximum view angle and an overlapping constraint imposed by multi-view stereo reconstruction techniques. The time complexity of the algorithm is linear with respect to the size of the area of interest. We demonstrate the efficiency of the entire system in two scenarios, a building and a hillside.

Document Type:Article
Title:View Planning for Multi-View Stereo 3D Reconstruction Using an Autonomous Multicopter
AuthorsInstitution or Email of AuthorsAuthors ORCID
Schmid, Korbiniankorbinian.schmid@dlr.deUNSPECIFIED
Hirschmüller, Heikoheiko.hirschmueller@dlr.deUNSPECIFIED
Dömel, Andreasandreas.doemel@dlr.deUNSPECIFIED
Grixa, Irisiris.grixa@dlr.deUNSPECIFIED
Suppa, Michaelmichael.suppa@dlr.deUNSPECIFIED
Hirzinger, Gerdgerd.hirzinger@dlr.deUNSPECIFIED
Date:January 2012
Journal or Publication Title:Journal of Intelligent & Robotic Systems
Refereed publication:Yes
In Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 309-323
Valavanis, KimonKimon.Valavanis@exch.du.edu
Series Name:Special Volume on Unmanned Aircraft Systems
Keywords:UAV, Multicopter, View planning, 3D Reconstruction, SGM
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Schmid, Korbinian
Deposited On:30 Jan 2012 10:53
Last Modified:13 Jul 2016 17:28

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