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Institut
- Informatik und Kommunikation (220) (entfernen)
The video shows a snapshot of a 16 minute flight of a DJI Phantom 3 professional over the Schloss Birlinghoven at Sankt Augustin, Germany. The castle is located at the Fraunhofer Campus at Sankt Augustin. The 3D model is generated out of 400 key frames of the 4k video which are cut out with ffmpeg. The work is part of an evaluation in the Tradr Project (www.tradr-project.eu)
Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior information on the environment and cannot assume the regular order of man-made environments or meaningful semantic cues. In this work we extensively evaluate different approaches to globally register UGV generated 3D point-cloud data from LiDAR sensors with UAV generated point-cloud maps from vision sensors. The approaches are realizations of different selections for: a) local features: key-points or segments; b) descriptors: FPFH, SHOT, or ESF; and c) transformation estimations: RANSAC or FGR. Additionally, we compare the results against standard approaches like applying ICP after a good prior transformation has been given. The evaluation criteria include the distance which a UGV needs to travel to successfully localize, the registration error, and the computational cost. In this context, we report our findings on effectively performing the task on two new Search and Rescue datasets. Our results have the potential to help the community take informed decisions when registering point-cloud maps from ground robots to those from aerial robots.
From the 360° images of the former video (
• German rescue robotic center captured... ) we now generate the 3D point cloud. The UAV needs 3 minutes to capture the outdoor scenario and the hall from inside and outside. The 3D point cloud generation is 5x slower than the video. It uses a VSLAM algorithm to localize the k-frames (green) and with 3 k-frames it use a 360° PatchMatch algorithm implemented at a NVIDIA graphic card (CUDA) to calculated the dense point clouds.The hall ist about 70 x 20 meters.
This video shows a model computed from 320 images taken at the Tjex 2015 of the trade project (www.tradr-project.eu). The images were acquired with a falcan 8 drone (AscTec) and reconstruct the structure with VisualSfm software. The flight was in 150 m. The Tower is about 95 meter high.
This video shows a model computed from 124 images taken at the Tjex 2015 of the trade project (www.tradr-project.eu). The images were acquired by walking around the object and reconstruct the structure with VisualSfm software.
This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV camera data are used to generate 3D point clouds that are fused with the 3D point clouds generated by a rolling 2D laser scanner at the UGV. The registration method is based on the matching of corresponding planar segments that are extracted from the point clouds. Based on the registration, an approach for a globally optimized localization is presented. Apart from the structural information of the point clouds, it is important to mention that no further information is required for the localization. Two examples show the performance of the overall registration.
360° UAV Flight in a collapse test setup at the German Resuce Robotik Center
360° Camera at a small UAV
(2021)
360° and IR- Camera Drone Flight Test: Superimposition of two data sources for Post-Fire Inspection
(2023)
This video highlights a recent flight test carried out in our cutting-edge robotics lab, unveiling the capabilities of our meticulously crafted thermal and 360° camera drone! We've ingeniously upgraded a DJI Avata with a bespoke thermal and 360° camera system. Compact yet powerful, measuring just 18 x 18 x 17 cm, this drone is strategically engineered to effortlessly navigate and deliver crucial thermal and 360° insights concurrently in post-fire or post-explosion environments.
The integration of a specialized thermal and 360° camera system enables the simultaneous capture of both data sources during a single flight. This groundbreaking approach not only reduces inspection time by half but also facilitates the seamless superimposition of thermal and 360° videos for comprehensive analysis and interpretation.