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Reconstructing 3D Models from Drone Flights or How I reconstructed a 3D model of a ruined church I’d never been to just using YouTube, Docker, VisualSFM and Meshlab, and you can too.
Andrew Hatch
@ashatch
3D scanning with structured light
3D scanning with RGB-D sensors
Tang, Liang, Guo, Wang, "Photogrammetry-based two-dimensional digital image correlation with nonperpendicular camera alignment", Opt. Eng. 51(2), 2012
Pose estimation in PTAM
VisualSFM (Structure from Motion)http://ccwu.me/vsfm/
docker run -v /data -it ryanfb/visualsfm /bin/bash
$ avconv -i footage.mp4 -r 1/1 -qscale:v 1 stills/frame$08d.jpg $ VisualSFM sfm+pairs+pmvs stills/ redchurch.nvm @8
ryanfb.github.io
VisualSFM in Docker
point cloud
http://meshlab.sourceforge.net/
Processing point clouds
• Poisson Surface Reconstruction
• Mesh cleanup
• Fill/close holes
• Cleanup non-manifold edges and faces
• Texture from registered rasters
Mesh
Current Research
ElasticFusion: Dense SLAM Without A Pose Graph, T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker and A. J. Davison, RSS '15
Further info
• Workflow:
• https://ryanfb.github.io/etc/2014/10/22/drone_photogrammetry_workflow.html
• The Red Church Dating to the late 5th–early 6th century YouTube video by Kostadin Dimov
• PTAM: http://www.robots.ox.ac.uk/~gk/PTAM/
• VisualSFM http://ccwu.me/vsfm/
• ElasticFusion http://www.imperial.ac.uk/dyson-robotics-lab/downloads/elastic-fusion/
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