Adaptive view planning for aerial 3D reconstruction

Cheng Peng, Volkan Isler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

With the proliferation of small aerial vehicles, acquiring close up imagery for high quality reconstruction is gaining importance. We present an adaptive view planning method to collect such images in an automated fashion. We first start by sampling a small set of views to build a coarse proxy to the scene. We then present (i) a method that builds a set of adaptive viewing planes for efficient view selection and (ii) an algorithm to plan a trajectory that guarantees high reconstruction quality which does not deviate too much from the optimal one. The vehicle then follows the trajectory to cover the scene, and the procedure is repeated until reconstruction quality converges or a desired level of quality is achieved. The set of viewing planes provides an effective compromise between using the entire 3D free space and using a single view hemisphere to select the views. We compare our algorithm to existing methods in three challenging scenes. Our algorithm generates views which produce the least reconstruction error comparing to three different baseline approaches.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2981-2987
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

Fingerprint

Antennas
Planning
Trajectories
Sampling

Cite this

Peng, C., & Isler, V. (2019). Adaptive view planning for aerial 3D reconstruction. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 2981-2987). [8793532] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793532

Adaptive view planning for aerial 3D reconstruction. / Peng, Cheng; Isler, Volkan.

2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2981-2987 8793532 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Peng, C & Isler, V 2019, Adaptive view planning for aerial 3D reconstruction. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793532, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 2981-2987, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 5/20/19. https://doi.org/10.1109/ICRA.2019.8793532
Peng C, Isler V. Adaptive view planning for aerial 3D reconstruction. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 2981-2987. 8793532. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2019.8793532
Peng, Cheng ; Isler, Volkan. / Adaptive view planning for aerial 3D reconstruction. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 2981-2987 (Proceedings - IEEE International Conference on Robotics and Automation).
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