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https://github.com/ethz-asl/aerial_mapper

Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs
https://github.com/ethz-asl/aerial_mapper

colmap dem dsm grid-map mapping mosaic orthomosaic pix4d uav

Last synced: 4 months ago
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Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs

Host: GitHub
URL: https://github.com/ethz-asl/aerial_mapper
Owner: ethz-asl
License: bsd-3-clause
Archived: true
Created: 2017-06-19T12:31:30.000Z (over 7 years ago)
Default Branch: master
Last Pushed: 2021-03-15T00:10:53.000Z (almost 4 years ago)
Last Synced: 2024-08-01T00:38:33.739Z (7 months ago)
Topics: colmap, dem, dsm, grid-map, mapping, mosaic, orthomosaic, pix4d, uav
Language: C++
Homepage:
Size: 354 KB
Stars: 552
Watchers: 47
Forks: 157
Open Issues: 7
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

        # aerial-mapper 

### Overview

- Load camera poses from different formats (such as [PIX4D](https://pix4d.com/), [COLMAP](https://colmap.github.io/))

- Generates a dense point cloud from raw images, camera poses and camera intrinsics

- Generates Digital Surface Models (DSMs) from raw point clouds and exports e.g. to [GeoTiff](http://www.gdal.org/frmt_gtiff.html) format

- Different methods to generate (ortho-)mosaics from raw images, camera poses and camera intrinsics

### Package Overview

- [**aerial_mapper:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper) Meta package

- [**aerial_mapper_demos:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_demos) Sample executables.

- [**aerial_mapper_dense_pcl:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_dense_pcl) Dense point cloud generation using planar rectification.

- [**aerial_mapper_dsm:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_dsm) Digitial Surface Map/Model generation.

- [**aerial_mapper_google_maps_api:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_google_maps_api) Wrapper package for Google Maps API.

- [**aerial_mapper_grid_map:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_grid_map) Wrapper package for grid_map.

- [**aerial_mapper_io:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_io) Input/Output handler that reads/writes poses, intrinsics, point clouds, GeoTiffs etc.

- [**aerial_mapper_ortho:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_ortho) Different methods for (ortho-)mosaic generation.

- [**aerial_mapper_thirdparty:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_thirdparty) Package containing thirdparty code.

- [**aerial_mapper_utils:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_utils) Package for common utility functions.

### Getting started

- [How to install](https://github.com/ethz-asl/aerial_mapper/wiki/How-to-install)

- [How to run (+ sample dataset)](https://github.com/ethz-asl/aerial_mapper/wiki/How-to-run)

- [How to contribute](https://github.com/ethz-asl/aerial_mapper/wiki/How-to-contribute)

### Output samples

Dense point cloud 
 (from virtual stereo pair, 2 images) | Digital Surface Map 
 (DSM, exported as GeoTiff) | (Ortho-)Mosaic 
 (from homography, 249 images) |

:---: | :---: | :---: |

![](https://github.com/ethz-asl/aerial_mapper/wiki/dense_preview.png) | ![](https://github.com/ethz-asl/aerial_mapper/wiki/dsm_preview.png)| ![](https://github.com/ethz-asl/aerial_mapper/wiki/ortho_from_homogr.gif) 

Raw images | Dense point cloud | Digital Surface Map |

:---: | :---: | :---: | 

![](https://github.com/ethz-asl/aerial_mapper/wiki/raw_images.gif) | ![](https://github.com/ethz-asl/aerial_mapper/wiki/dense.gif)  | ![](https://github.com/ethz-asl/aerial_mapper/wiki/dsm.png) 

__Observation Angle 
 (red: nadir)__ | __Grid-based Orthomosaic 
 (Cell resolution: 0.5m)__ | __Textured DSM__ 

![](https://github.com/ethz-asl/aerial_mapper/wiki/observation_angle.gif) | ![](https://github.com/ethz-asl/aerial_mapper/wiki/ortho.gif) | ![](https://github.com/ethz-asl/aerial_mapper/wiki/ortho_elevated.gif) 



### Publications

If you use this work in an academic context, please cite the following publication:

T. Hinzmann, J. L. Schönberger, M. Pollefeys, and R. Siegwart, **"Mapping on the Fly: Real-time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles"** [[PDF]](http://www.timohinzmann.com/publications/fsr_2017_hinzmann.pdf)

```

@INPROCEEDINGS{fsr_hinzmann_2017,

   Author = {T. Hinzmann, J. L. Schönberger, M. Pollefeys, and R. Siegwart},

   Title = {Mapping on the Fly: Real-time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles},

   Booktitle = {Field and Service Robotics - Results of the 11th International Conference},

   Year = {2017}

}

```

### Acknowledgment

This work was partially funded by the European FP7 project SHERPA (FP7-600958) and the Federal office armasuisse Science and Technology under project number 050-45. Furthermore, the authors wish to thank [Lucas P. Teixeira](https://github.com/weblucas) from the [Vision for Robotics Lab](http://www.iris.ethz.ch/the-institute/vision-for-robotics-lab.html) at ETH Zurich for sharing scripts that bridge the gap between Blender and Gazebo.