Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles
A Reflectance Transformation Imaging technique (RTI) realized by multi-rotor Unmanned Aerial Vehicles (UAVs) with a focus on deployment in difficult to access buildings is presented in this letter. RTI is a computational photographic method that captures a surface shape and color of a subject and en...
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| Published in | IEEE robotics and automation letters Vol. 5; no. 2; pp. 2301 - 2308 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Piscataway
IEEE
01.04.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 2377-3766 2377-3766 |
| DOI | 10.1109/LRA.2020.2970646 |
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| Abstract | A Reflectance Transformation Imaging technique (RTI) realized by multi-rotor Unmanned Aerial Vehicles (UAVs) with a focus on deployment in difficult to access buildings is presented in this letter. RTI is a computational photographic method that captures a surface shape and color of a subject and enables its interactive re-lighting from any direction in a software viewer, revealing details that are not visible with the naked eye. The input of RTI is a set of images captured by a static camera, each one under illumination from a different known direction. We present an innovative approach applying two multi-rotor UAVs to perform this scanning procedure in locations that are hardly accessible or even inaccessible for people. The proposed system is designed for its safe deployment within real-world scenarios in historical buildings with priceless historical value. |
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| AbstractList | A Reflectance Transformation Imaging technique (RTI) realized by multi-rotor Unmanned Aerial Vehicles (UAVs) with a focus on deployment in difficult to access buildings is presented in this letter. RTI is a computational photographic method that captures a surface shape and color of a subject and enables its interactive re-lighting from any direction in a software viewer, revealing details that are not visible with the naked eye. The input of RTI is a set of images captured by a static camera, each one under illumination from a different known direction. We present an innovative approach applying two multi-rotor UAVs to perform this scanning procedure in locations that are hardly accessible or even inaccessible for people. The proposed system is designed for its safe deployment within real-world scenarios in historical buildings with priceless historical value. |
| Author | Kratky, Vit Spurny, Vojtech Saska, Martin Petracek, Pavel |
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| SubjectTerms | Aerial systems: applications Cooperating robots Historical buildings Illumination Multi-robot systems Reflectance Unmanned aerial vehicles |
| Title | Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles |
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