Monocular 3D Reconstruction using Structure from Motion

Open Access
Author:
Barton, John Thomas
Area of Honors:
Aerospace Engineering
Degree:
Bachelor of Science
Document Type:
Thesis
Thesis Supervisors:
  • Jacob Willem Langelaan, Thesis Supervisor
  • Robert Graham Melton, Honors Advisor
Keywords:
  • Computer Vision
  • Monocular
  • Visual Odometry
  • Point Cloud
  • UAS
  • Unmanned
  • Aerial Vehicle
  • Navigation
Abstract:
This project was envisioned as a way to demonstrate how open-source software, an aerial vehicle, and inexpensive COTS hardware could be used to model a 3-dimensional environment and provide visual odometry to an on-board flight controller to make intelligent flight decisions. Using a simple structure from motion pipeline, point cloud merging, and image processing, this project demonstrates an efficient way to define a 3-dimensional area using only a monocular camera system and an on-board computer.