论文标题
OpenRealm：无人驾驶汽车的实时映射
OpenREALM: Real-time Mapping for Unmanned Aerial Vehicles
论文作者
论文摘要
本文介绍了OpenRealm，这是一个无人驾驶飞机（UAV）的实时映射框架。使用无人机的板载计算机上的摄像头可用于获取目标感兴趣区域的高分辨率图像镶嵌物。不同的操作模式使OpenRealm假设平面接地近似，或者完全恢复复杂的3D表面信息，以提取高程图和几何校正的正尾部。此外，无人机的全局位置用于查看数据。在所有模式下，所得地图的增量进度都可以由地面上的操作员实时查看。获得的，最新的表面信息将推向各种无人机应用程序。为了获得社区的利益，源代码在https://github.com/laxnpander/openrealm上公开。
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest. Different modes of operation allow OpenREALM to perform simple stitching assuming an approximate plane ground, or to fully recover complex 3D surface information to extract both elevation maps and geometrically corrected orthophotos. Additionally, the global position of the UAV is used to georeference the data. In all modes incremental progress of the resulting map can be viewed live by an operator on the ground. Obtained, up-to-date surface information will be a push forward to a variety of UAV applications. For the benefit of the community, source code is public at https://github.com/laxnpander/OpenREALM.
