Collaborative 3D Reconstruction Using Heterogeneous UAVs: System and Experiments

@inproceedings{Hinzmann2016Collaborative3R,
  title={Collaborative 3D Reconstruction Using Heterogeneous UAVs: System and Experiments},
  author={Timo Hinzmann and Thomas Stastny and Gianpaolo Conte and Patrick Doherty and Piotr Rudol and Mariusz Wzorek and Enric Galceran and Roland Y. Siegwart and Igor Gilitschenski},
  booktitle={International Symposium on Experimental Robotics},
  year={2016}
}
This paper demonstrates how a heterogeneous fleet of unmanned aerial vehicles (UAVs) can support human operators in search and rescue (SaR) scenarios. We describe a fully autonomous delegation framework that interprets the top-level commands of the rescue team and converts them into actions of the UAVs. In particular, the UAVs are requested to autonomously scan a search area and to provide the operator with a consistent georeferenced 3D reconstruction of the environment to increase the… 

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