elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

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.

[img] PDF - Registered users only - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
1MB

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

Abstract

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
Authors:
AuthorsInstitution or Email of Authors
Schmid, Korbiniankorbinian.schmid@dlr.de
Hirschmüller, Heikoheiko.hirschmueller@dlr.de
Dömel, Andreasandreas.doemel@dlr.de
Grixa, Irisiris.grixa@dlr.de
Suppa, Michaelmichael.suppa@dlr.de
Hirzinger, Gerdgerd.hirzinger@dlr.de
Date:January 2012
Journal or Publication Title:Journal of Intelligent & Robotic Systems
Refereed publication:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:Volume
DOI:10.1007/s10846-011-9576-2
Page Range:pp. 309-323
Editors:
EditorsEmail
Valavanis, KimonKimon.Valavanis@exch.du.edu
Publisher:Springer
Series Name:Special Volume on Unmanned Aircraft Systems
ISSN:0921-0296
Status:Published
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 > Perception and Cognition
Deposited By: Korbinian Schmid
Deposited On:30 Jan 2012 10:53
Last Modified:12 Dec 2013 21:36

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.