P4. Incremental Mapping from Image Sequences

Homepage: http://www.ipb.uni-bonn.de/mod-p4
Project coordinator/staff: W. Förstner, H. Kuhlmann, J. Schneider, T. Läbe
Summary: By the use of an incremental bundle adjustement integrated in a fast kalman filter we want to update on the one hand the "map" step by step in terms of a dense point cloud of possibly pre-interpreted surface elements and on the other hand the pose of the drone on the basis of the available sensor data, especially on the basis of the high resolution images of the single camera and the matched features.
The highly accurate pose estimates and the "map" are provided for project P5 in order to generate a dense and high-resolution surface. Innovative is the integration of a bundle adjustment with dense distributed surface elements within a kalman filter.

Institute of Geodesy and Geoinformation, Department of Photogrammetry
University of Bonn, Germany
Nussallee 15, 53115 Bonn