TY - GEN
T1 - Factors Affecting 3D Reconstruction of Micro Aerial Vehicles
AU - Padilla, Mark Lester F.
AU - Chirarattananon, Pakpong
AU - Dadios, Elmer P.
PY - 2019/11
Y1 - 2019/11
N2 - Micro Aerial Vehicles (MAVs) have created a great impact in robotics research particularly in aerial robotics. Different studies have been done incorporating either single or mutliple quadrotors in their work. Typically, studies with single quadrotor uses onboard computing, contains high powered sensors like Laser Range Finders (LRF), and often are big. In the contrary, smaller quadrotors doesn't have the capacity to do those though it can handle low powered sensors and devices. With these limits, the study sought for the possibility of applying collaborative mapping in the 3D reconstruction by analyzing the factors affecting it such as number of quadrotors, varying height, and formations. Here, we have found that the number of points, the Mean Reprojection Error (MRE), and the number of observations changes significantly depending on the type of formation used.
AB - Micro Aerial Vehicles (MAVs) have created a great impact in robotics research particularly in aerial robotics. Different studies have been done incorporating either single or mutliple quadrotors in their work. Typically, studies with single quadrotor uses onboard computing, contains high powered sensors like Laser Range Finders (LRF), and often are big. In the contrary, smaller quadrotors doesn't have the capacity to do those though it can handle low powered sensors and devices. With these limits, the study sought for the possibility of applying collaborative mapping in the 3D reconstruction by analyzing the factors affecting it such as number of quadrotors, varying height, and formations. Here, we have found that the number of points, the Mean Reprojection Error (MRE), and the number of observations changes significantly depending on the type of formation used.
KW - 3D Reconstruction
KW - Micro Aerial Vehicles
KW - Structure from Motion
UR - http://www.scopus.com/inward/record.url?scp=85084734151&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85084734151&origin=recordpage
U2 - 10.1109/HNICEM48295.2019.9072789
DO - 10.1109/HNICEM48295.2019.9072789
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781728130446
T3 - IEEE International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM
BT - 2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management (HNICEM)
PB - IEEE
T2 - 11th IEEE International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management (HNICEM 2019)
Y2 - 29 November 2019 through 1 December 2019
ER -