Dense Tracking and Mapping with a Quadrocopter

  title={Dense Tracking and Mapping with a Quadrocopter},
  author={J{\"u}rgen Sturm and Erik Bylow and Christian Kerl and Fredrik Kahl and Daniel Cremers},
In this paper, we present an approach for acquiring textured 3D models of room-sized indoor spaces using a quadrocopter. Such room models are for example useful for architects and interior designers as well as for factory planners and construction managers. The model is internally represented by a signed distance function (SDF) and the SDF is used to directly track the camera with respect to the model. Our solution enables accurate position control of the quadrocopter, so that it can… CONTINUE READING
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