A MODULAR AND LOW-COST PORTABLE VSLAM SYSTEM FOR REAL-TIME 3D MAPPING: FROM INDOOR AND OUTDOOR SPACES TO UNDERWATER ENVIRONMENTS

The bond with computer vision and robotics is revolutionizing the traditional surveying approaches. Algorithms such as visual odometry and SLAM are embedded in surveying systems to make on-site and processing operations more efficient both in terms of time and quality of the achieved results. In thi...

Full description

Saved in:
Bibliographic Details
Main Authors: Menna, F., Torresani, A., Battisti, R., Nocerino, E., Remondino, F.
Format: Conference Proceeding
Language:English
Subjects:
Algorithms
Archives & records
Automatic control
Blurring
Cameras
Case studies
Computer vision
Image acquisition
Indoor environments
Lasers
Localization
Low cost
Mapping
Modular systems
Optimization
Photogrammetry
Portability
Prototypes
Redundancy
Robotics
Sensors
Storage
Surveying
Underwater
Citations: Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The bond with computer vision and robotics is revolutionizing the traditional surveying approaches. Algorithms such as visual odometry and SLAM are embedded in surveying systems to make on-site and processing operations more efficient both in terms of time and quality of the achieved results. In this paper, we present the latest developments on GuPho, a mobile mapping concept based on photogrammetry that leverages a vSLAM solution to provide innovative and unique features supporting the image acquisition and optimising the processing steps. These include visual feedback on ground sample distance and maximum allowed speed to avoid motion blur. Two efficient image acquisition strategies, based on geometric principles, are implemented to optimise the disk storage, avoiding unnecessary redundancy. Moreover, an innovative automatic exposure control that adjusts the shutter speed or gain based on the tracked object in 3D is part of the system. The paper reports the motivations behind the design choices, details the hardware and software components, discusses several case studies to showcase the potentialities of our low-cost, lightweight, and portable modular prototype system.
ISSN:2194-9034
1682-1750
2194-9034
DOI:10.5194/isprs-archives-XLVIII-2-W1-2022-153-2022