A V-SLAM Guided and Portable System for Photogrammetric Applications

Abstract

Mobile and handheld mapping systems are becoming widely used nowadays as fast and cost-effective data acquisition systems for 3D reconstruction purposes. While most of the research and commercial systems are based on active sensors, solutions employing only cameras and photogrammetry are attracting more and more interest due to their significantly minor costs, size and power consumption. In this work we propose an ARM-based, low-cost and lightweight stereo vision mobile mapping system based on a Visual Simultaneous Localization And Mapping (V-SLAM) algorithm. The prototype system, named GuPho (Guided Photogrammetric System) also integrates an in-house guidance system which enables optimized image acquisitions, robust management of the cameras and feedback on positioning and acquisition speed. The presented results show the effectiveness of the developed prototype in mapping large scenarios, enabling motion blur prevention, robust camera exposure control and achieving accurate 3D results.

Design of structured meshes of mining excavations based on variability trends of real point clouds from laser scanning for numerical airflow modeling

“…It can be mounted on a robot [25] or a UAV [26], as well as a hand-held [4]. The main sensors used in SLAM technology are LiDARs [27] and cameras [28]. In the case of this article, the captured data were processed using the Fast LiDAR Odometry and Mapping (FAST LIO SLAM) algorithm [29].…”

Outdoor Mobile Mapping and AI-Based 3D Object Detection with Low-Cost RGB-D Cameras: The Use Case of On-Street Parking Statistics

“…There are numerous works investigating the use of low-cost action and smartphone cameras for mobile mapping purposes [18][19][20] and an increasing number investigating the use of RGB-D cameras for indoor mapping [21,22]. By contrast, there are only a few published studies on outdoor applications of RGB-D cameras [23].…”

Accurate 3d Reconstruction Using a Videogrammetric Device for Heritage Scenarios

“…The second line of research uses the video frames to make more robust bundle adjustments, using the maximum resolution of the images, with the purpose of achieving maximum precision, even if the processing time increases. In this line are 3D measurement systems in engineering, architecture or heritage, among others (Ortiz-Coder and Sánchez-Rios, 2019;Torresani et al, 2021). In this field it is important to have high accuracy, over and above the post-processing time.…”

“…On the other hand, we find interesting works of data capture through video captured with mobile systems and using cloud processing for the generation of an initial sparse point cloud and a subsequent dense 3D point cloud (Nocerino et al, 2017). Another handheld system for image-based reconstruction with a certain similarity to the one proposed in this paper is the prototype presented by Torresani (Torresani et al, 2021) which consists of two global shutter cameras with a certain convergence of the optical axes of the cameras, and which uses stereoscopy to perform image corrections. The guidance system is based on V-SLAM to finally generate the 3D models using photogrammetry.…”