{"title":"Smart three-dimensional processing of unconstrained cave scans using small unmanned aerial systems and red, green, and blue-depth cameras","authors":"Guoxian Zhang, H. Moyes, Yangquan Chen","doi":"10.1177/17298814211017728","DOIUrl":null,"url":null,"abstract":"This article focuses on a novel three-dimensional reconstruction system that maps large archeological caves using data collected by a small unmanned aircraft system with red, green, and blue-depth cameras. Cave sites often contain the best-preserved material in the archeological record. Yet few sites are fully mapped. Large caves environment usually contains complex geometric structures and objects, which must be scanned with long overlapped camera trajectories for better coverage. Due to the error in camera tracking of such scanning, reconstruction results often contain flaws and mismatches. To solve this problem, we propose a framework for surface loop closure, where loops are detected with a compute unified device architecture accelerated point cloud registration algorithm. After a loop is detected, a novel surface loop filtering method is proposed for robust loop optimization. This loop filtering method is robust to different scan patterns and can cope with tracking failure recovery so that there is more flexibility for unmanned aerial vehicles to fly and record data. We run experiments on public data sets and our cave data set for analysis and robustness tests. Experiments show that our system produces improved results on baseline methods.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3000,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Advanced Robotic Systems","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1177/17298814211017728","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"Computer Science","Score":null,"Total":0}
引用次数: 0
Abstract
This article focuses on a novel three-dimensional reconstruction system that maps large archeological caves using data collected by a small unmanned aircraft system with red, green, and blue-depth cameras. Cave sites often contain the best-preserved material in the archeological record. Yet few sites are fully mapped. Large caves environment usually contains complex geometric structures and objects, which must be scanned with long overlapped camera trajectories for better coverage. Due to the error in camera tracking of such scanning, reconstruction results often contain flaws and mismatches. To solve this problem, we propose a framework for surface loop closure, where loops are detected with a compute unified device architecture accelerated point cloud registration algorithm. After a loop is detected, a novel surface loop filtering method is proposed for robust loop optimization. This loop filtering method is robust to different scan patterns and can cope with tracking failure recovery so that there is more flexibility for unmanned aerial vehicles to fly and record data. We run experiments on public data sets and our cave data set for analysis and robustness tests. Experiments show that our system produces improved results on baseline methods.
期刊介绍:
International Journal of Advanced Robotic Systems (IJARS) is a JCR ranked, peer-reviewed open access journal covering the full spectrum of robotics research. The journal is addressed to both practicing professionals and researchers in the field of robotics and its specialty areas. IJARS features fourteen topic areas each headed by a Topic Editor-in-Chief, integrating all aspects of research in robotics under the journal''s domain.