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/