Embedded, real-time UAV control for improved, image-based 3D scene reconstruction

Jean Liénard; Andre Vogs; Demetrios Gatziolis; Nikolay Strigul

doi:10.1016/j.measurement.2015.12.014

Treesearch

Embedded, real-time UAV control for improved, image-based 3D scene reconstruction

Formally Refereed

Authors:

Jean Liénard, Andre Vogs, Demetrios Gatziolis, Nikolay Strigul

Year:

2016

Type:

Scientific Journal

Station:

Pacific Northwest Research Station

DOI:

https://doi.org/10.1016/j.measurement.2015.12.014

Source:

Measurement

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Abstract

Unmanned Aerial Vehicles (UAVs) are already broadly employed for 3D modeling of large objects such as trees and monuments via photogrammetry. The usual workflow includes two distinct steps: image acquisition with UAV and computationally demanding postflight image processing. Insufficient feature overlaps across images is a common shortcoming in post-flight image processing resulting in the failure of 3D reconstruction. Here we propose a real-time control system that overcomes this limitation by targeting specific spatial locations for image acquisition thereby providing sufficient feature overlap. We initially benchmark several implementations of the Scale-Invariant Feature Transform (SIFT) feature identification algorithm to determine whether they allow real-time execution on the low-cost processing hardware embedded on the UAV. We then experimentally test our UAV platform in virtual and real-life environments. The presented architecture consistently decreases failures and improves the overall quality of 3D reconstructions.

Keywords

3D reconstruction, Aerial robotics, Computer vision, Robotics in agriculture and forestry, Real-time photogrammetry

Citation

Liénard, Jean; Vogs, Andre; Gatziolis, Demetrios; Strigul, Nikolay. 2016. Embedded, real-time UAV control for improved, image-based 3D scene reconstruction. Measurement, Vol. 81: 6 pages.: 264-269.