UAV-Based SLAM and 3D Reconstruction System

Tianwei Li; Steve Hailes; Simon Julier; Ming Liu

doi:10.1109/ROBIO.2017.8324795

UAV-Based SLAM and 3D Reconstruction System

Tianwei Li^*
, Steve Hailes
, Simon Julier
, Ming Liu

^*Corresponding author for this work

CityUHK Shenzhen Research Institute

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

19 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
Publisher	IEEE
Pages	2496-2501
ISBN (Print)	9781538637418
DOIs	https://doi.org/10.1109/ROBIO.2017.8324795
Publication status	Published - Dec 2017
Event	2017 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2017) - The Parisian Macao, Macao, China Duration: 5 Dec 2017 → 8 Dec 2017 http://2017.ieee-robio.org/

Publication series

Name	IEEE International Conference on Robotics and Biomimetics, ROBIO

Conference

Conference	2017 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2017)
Place	Macao, China
Period	5/12/17 → 8/12/17
Internet address	http://2017.ieee-robio.org/

Research Keywords

GPS
PMVS
SLAM
UAV

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10.1109/ROBIO.2017.8324795

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@inproceedings{7112daf1356d4496ad58b89e408805db,

title = "UAV-Based SLAM and 3D Reconstruction System",

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.",

keywords = "GPS, PMVS, SLAM, UAV",

author = "Tianwei Li and Steve Hailes and Simon Julier and Ming Liu",

year = "2017",

month = dec,

doi = "10.1109/ROBIO.2017.8324795",

language = "English",

isbn = "9781538637418",

series = "IEEE International Conference on Robotics and Biomimetics, ROBIO",

publisher = "IEEE",

pages = "2496--2501",

booktitle = "Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics",

address = "United States",

note = "2017 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2017) ; Conference date: 05-12-2017 Through 08-12-2017",

url = "http://2017.ieee-robio.org/",

}

Li, T, Hailes, S, Julier, S & Liu, M 2017, UAV-Based SLAM and 3D Reconstruction System. in Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics, ROBIO, IEEE, pp. 2496-2501, 2017 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2017), Macao, China, 5/12/17. https://doi.org/10.1109/ROBIO.2017.8324795

UAV-Based SLAM and 3D Reconstruction System. / Li, Tianwei; Hailes, Steve; Julier, Simon et al.
Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics. IEEE, 2017. p. 2496-2501 (IEEE International Conference on Robotics and Biomimetics, ROBIO).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - UAV-Based SLAM and 3D Reconstruction System

AU - Li, Tianwei

AU - Hailes, Steve

AU - Julier, Simon

AU - Liu, Ming

PY - 2017/12

Y1 - 2017/12

N2 - 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.

AB - 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.

KW - GPS

KW - PMVS

KW - SLAM

KW - UAV

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U2 - 10.1109/ROBIO.2017.8324795

DO - 10.1109/ROBIO.2017.8324795

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781538637418

T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO

SP - 2496

EP - 2501

BT - Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics

PB - IEEE

T2 - 2017 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2017)

Y2 - 5 December 2017 through 8 December 2017

ER -

UAV-Based SLAM and 3D Reconstruction System

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