LTI-UAV3D: a solution of high quality and low cost for terrain 3D reconstruction using a µ-uav

Abstract

This article describes a simple and quite affordable tool called 
LTIUAV3D, for terrain three-dimensional reconstruction, using 
a low-cost unmanned aerial vehicle (UAV) and a personal 
computer. The 3D model does not require GPS information, 
because it is built exclusively from monocular images obtained 
by the onboard camera. To solve the scale factor of the 3D 
model, an artificial marker is used as a reference, so the 
obtained height map is metrically precise and correct. An 
important characteristic of LTIUAV3D is that the 3D model 
is built in real time, as the UAV flies over the terrain, with 
incremental updates every second.
For the height map obtained, the estimation errors are less 
than 4%, so the 3D model could be used for path planning and 
autonomous navigation of UAVs. Also, the LTIUAV3D tool can 
get a much more precise and detailed 3D model, in an offline 
process, with height estimation errors less than 1%.
This tool makes available, to a large number of users both 
individuals and academics, a robust foundation for the 
development of new applications of UAVs.