OpenREALM: Real-time Mapping for Unmanned Aerial Vehicles

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 sim...

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Bibliographic Details
Main Authors Kern, Alexander, Bobbe, Markus, Khedar, Yogesh, Bestmann, Ulf
Format Journal Article
LanguageEnglish
Published 22.09.2020
Subjects
Computer Science - Computer Vision and Pattern Recognition
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Summary: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.
DOI:10.48550/arxiv.2009.10492