Journal of Intelligent & Robotic Systems

, Volume 65, Issue 1, pp 309–323

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

Authors

    • Department of Perception and Cognition, Robotics and Mechatronics Center (RMC)German Aerospace Center (DLR)
  • Heiko Hirschmüller
    • Department of Perception and Cognition, Robotics and Mechatronics Center (RMC)German Aerospace Center (DLR)
  • Andreas Dömel
    • Department of Perception and Cognition, Robotics and Mechatronics Center (RMC)German Aerospace Center (DLR)
  • Iris Grixa
    • Department of Perception and Cognition, Robotics and Mechatronics Center (RMC)German Aerospace Center (DLR)
  • Michael Suppa
    • Department of Perception and Cognition, Robotics and Mechatronics Center (RMC)German Aerospace Center (DLR)
  • Gerd Hirzinger
    • Robotics and Mechatronics Center (RMC)German Aerospace Center (DLR)
Article

DOI: 10.1007/s10846-011-9576-2

Cite this article as:
Schmid, K., Hirschmüller, H., Dömel, A. et al. J Intell Robot Syst (2012) 65: 309. doi:10.1007/s10846-011-9576-2

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.

Keywords

UAV Multicopter View planning 3D Reconstruction SGM

Copyright information

© Springer Science+Business Media B.V. 2011