A MODULAR AND LOW-COST PORTABLE VSLAM SYSTEM FOR REAL-TIME 3D MAPPING: FROM INDOOR AND OUTDOOR SPACES TO UNDERWATER ENVIRONMENTS
The bond with computer vision and robotics is revolutionizing the traditional surveying approaches. Algorithms such as visual odometry and SLAM are embedded in surveying systems to make on-site and processing operations more efficient both in terms of time and quality of the achieved results. In thi...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2022-12-01
|
| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLVIII-2-W1-2022/153/2022/isprs-archives-XLVIII-2-W1-2022-153-2022.pdf |
| _version_ | 1811301460518895616 |
|---|---|
| author | F. Menna A. Torresani A. Torresani R. Battisti E. Nocerino F. Remondino |
| author_facet | F. Menna A. Torresani A. Torresani R. Battisti E. Nocerino F. Remondino |
| author_sort | F. Menna |
| collection | DOAJ |
| description | The bond with computer vision and robotics is revolutionizing the traditional surveying approaches. Algorithms such as visual odometry and SLAM are embedded in surveying systems to make on-site and processing operations more efficient both in terms of time and quality of the achieved results. In this paper, we present the latest developments on GuPho, a mobile mapping concept based on photogrammetry that leverages a vSLAM solution to provide innovative and unique features supporting the image acquisition and optimising the processing steps. These include visual feedback on ground sample distance and maximum allowed speed to avoid motion blur. Two efficient image acquisition strategies, based on geometric principles, are implemented to optimise the disk storage, avoiding unnecessary redundancy. Moreover, an innovative automatic exposure control that adjusts the shutter speed or gain based on the tracked object in 3D is part of the system. The paper reports the motivations behind the design choices, details the hardware and software components, discusses several case studies to showcase the potentialities of our low-cost, lightweight, and portable modular prototype system. |
| first_indexed | 2024-04-13T07:09:17Z |
| format | Article |
| id | doaj.art-a31923f565634fcbb7b11d327d9e6ec3 |
| institution | Directory Open Access Journal |
| issn | 1682-1750 2194-9034 |
| language | English |
| last_indexed | 2024-04-13T07:09:17Z |
| publishDate | 2022-12-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-a31923f565634fcbb7b11d327d9e6ec32022-12-22T02:56:55ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342022-12-01XLVIII-2-W1-202215316210.5194/isprs-archives-XLVIII-2-W1-2022-153-2022A MODULAR AND LOW-COST PORTABLE VSLAM SYSTEM FOR REAL-TIME 3D MAPPING: FROM INDOOR AND OUTDOOR SPACES TO UNDERWATER ENVIRONMENTSF. Menna0A. Torresani1A. Torresani2R. Battisti3E. Nocerino4F. Remondino53D Optical Metrology (3DOM) unit, Bruno Kessler Foundation (FBK), Trento, Italy3D Optical Metrology (3DOM) unit, Bruno Kessler Foundation (FBK), Trento, ItalyDepartment of Information Engineering and Computer Science (DISI), University of Trento, Italy3D Optical Metrology (3DOM) unit, Bruno Kessler Foundation (FBK), Trento, ItalyDipartimento di Scienze Umanistiche e Sociali, University of Sassari, Sassari, Italy3D Optical Metrology (3DOM) unit, Bruno Kessler Foundation (FBK), Trento, ItalyThe bond with computer vision and robotics is revolutionizing the traditional surveying approaches. Algorithms such as visual odometry and SLAM are embedded in surveying systems to make on-site and processing operations more efficient both in terms of time and quality of the achieved results. In this paper, we present the latest developments on GuPho, a mobile mapping concept based on photogrammetry that leverages a vSLAM solution to provide innovative and unique features supporting the image acquisition and optimising the processing steps. These include visual feedback on ground sample distance and maximum allowed speed to avoid motion blur. Two efficient image acquisition strategies, based on geometric principles, are implemented to optimise the disk storage, avoiding unnecessary redundancy. Moreover, an innovative automatic exposure control that adjusts the shutter speed or gain based on the tracked object in 3D is part of the system. The paper reports the motivations behind the design choices, details the hardware and software components, discusses several case studies to showcase the potentialities of our low-cost, lightweight, and portable modular prototype system.https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLVIII-2-W1-2022/153/2022/isprs-archives-XLVIII-2-W1-2022-153-2022.pdf |
| spellingShingle | F. Menna A. Torresani A. Torresani R. Battisti E. Nocerino F. Remondino A MODULAR AND LOW-COST PORTABLE VSLAM SYSTEM FOR REAL-TIME 3D MAPPING: FROM INDOOR AND OUTDOOR SPACES TO UNDERWATER ENVIRONMENTS The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | A MODULAR AND LOW-COST PORTABLE VSLAM SYSTEM FOR REAL-TIME 3D MAPPING: FROM INDOOR AND OUTDOOR SPACES TO UNDERWATER ENVIRONMENTS |
| title_full | A MODULAR AND LOW-COST PORTABLE VSLAM SYSTEM FOR REAL-TIME 3D MAPPING: FROM INDOOR AND OUTDOOR SPACES TO UNDERWATER ENVIRONMENTS |
| title_fullStr | A MODULAR AND LOW-COST PORTABLE VSLAM SYSTEM FOR REAL-TIME 3D MAPPING: FROM INDOOR AND OUTDOOR SPACES TO UNDERWATER ENVIRONMENTS |
| title_full_unstemmed | A MODULAR AND LOW-COST PORTABLE VSLAM SYSTEM FOR REAL-TIME 3D MAPPING: FROM INDOOR AND OUTDOOR SPACES TO UNDERWATER ENVIRONMENTS |
| title_short | A MODULAR AND LOW-COST PORTABLE VSLAM SYSTEM FOR REAL-TIME 3D MAPPING: FROM INDOOR AND OUTDOOR SPACES TO UNDERWATER ENVIRONMENTS |
| title_sort | modular and low cost portable vslam system for real time 3d mapping from indoor and outdoor spaces to underwater environments |
| url | https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLVIII-2-W1-2022/153/2022/isprs-archives-XLVIII-2-W1-2022-153-2022.pdf |
| work_keys_str_mv | AT fmenna amodularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT atorresani amodularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT atorresani amodularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT rbattisti amodularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT enocerino amodularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT fremondino amodularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT fmenna modularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT atorresani modularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT atorresani modularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT rbattisti modularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT enocerino modularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments AT fremondino modularandlowcostportablevslamsystemforrealtime3dmappingfromindoorandoutdoorspacestounderwaterenvironments |