xiaojiean / online_3d_reconstruction

Program to do online 3D reconstruction with pose correction of UAV. High localization and object dimensional accuracy. Low overhead and running costs. Uses GPU for matching and multi-threading for point cloud creation, filtering, downsampling, visualization.

Online 3D Reconstruction on a UAV

Program to do online 3D reconstruction with pose correction of UAV. Very high localization and object dimensional accuracy

Dependencies:

• OpenCV 3.1
• PCL 1.7
• CUDA 8.0

Inputs:

• disparity images
• camera images
• UAV GPS and IMU state estimate pose Quaternion

Speeds:

• sparse cloud ~ 22 fps, semi-dense cloud ~ 12 fps

Algo:

Comparision of Presented 3D Reconstruction results (fitst) with Agisoft PhotoScan results (second)

Accuracy:

• UAV flying altitude 22m. localization with < 10 cm, object dimension accuracy < 3 cm

Appendix:

Filtering Raw Stereo:

Self notes:

pcl 1.6 requires vtk 5.10.1 to work install using sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev

Usage:

./pose 1230 1400 --seq_len 50 --preview --voxel_size 0.05 --jump_pixels 15 --range_width 100 --dist_nearby 6 --min_points_per_voxel 1 --blur_kernel 30 ./pose 1230 1400 --seq_len 50 --preview --voxel_size 0.05 --jump_pixels 15 --range_width 100 --dist_nearby 6 --min_points_per_voxel 1 --blur_kernel 30 --dont_downsample