Fast 3D Map Reconstruction Using Dense Visual Simultaneous Localization and Mapping Based on Unmanned Aerial Vehicle

摘要

Traditional 3D map reconstruction methods based on unmanned aerial (UA) always relies on multi-camera optical equipment or additional space positioning equipment. All of these restrict the UA's application scenarios to some extent. Visual simultaneous localization and mapping (VSLAM), using the camera as the only external sensor, can construct a 3D map of its spatial environment while recording its own localization. This paper proposes a technique of fast 3D map reconstruction based on UAs by using VSLAM, with parallel computing based on CUDA, to achieve fast dense reconstruction based on a UA platform. This research belongs to one of the emerging but very exciting application areas using UAs. It helps to expand the application scope of UAs to some extent. From the experiments, it is demonstrated that the methodology presented in this paper works well, and could be applied to real world applications.