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dc.contributor.authorGassaway, Jason Cannonen_US
dc.date.accessioned2014-03-14T20:41:43Z
dc.date.available2014-03-14T20:41:43Z
dc.date.issued2011-07-11en_US
dc.identifier.otheretd-07202011-143334en_US
dc.identifier.urihttp://hdl.handle.net/10919/34086
dc.description.abstractThis thesis presents a new method for improved resolution of stereoscopic 3D terrain mapping by local dense bundling of disparity maps. The Unmanned Systems Lab (USL) at Virginia Tech is designing an unmanned aerial vehicle (UAV) first-response system capable of 3D terrain mapping in the wake of a nuclear event. The UAV is a helicopter, and is equipped with a stereo boom imaging system, GPS, and an inertial measurement system (IMU) for low-altitude aerial mapping. Previous 3D reconstruction algorithms on the project used two-frame rectified stereo correspondence to create a local 3D map, which was geo-located by raw GPS and IMU data. The new local dense bundling algo-rithm combines multiple pairs of stereo images by SURF feature point matching, image rectification, matching of dense points with semi-global block matching, and optimization of camera pose and dense 3D point location using a stereo-constrained local bundle adjustment. The performance of the algorithm is evaluated numerically on synthetic im-agery and qualitatively on real aerial flight data. Results indicate the algorithm produces marked improvement in accuracy and vertical resolution, given a proper helicopter flight path and sufficient image overlap. With synthetic imagery and precise pose supplied, the algorithm shows a 1.2x to 6x reduction in vertical error.en_US
dc.publisherVirginia Techen_US
dc.relation.haspartGassaway_JC_T_2011_Copyright.pdfen_US
dc.relation.haspartGassaway_JC_T_2011.pdfen_US
dc.rightsI hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Virginia Tech or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report.en_US
dc.subjectStereo Visionen_US
dc.subjectUAVen_US
dc.subjectTerrain Mappingen_US
dc.subjectComputer Visionen_US
dc.subjectStereo Correspondenceen_US
dc.subjectBundle Adjustmenten_US
dc.titleLocal Bundling of Disparity Maps for Improved Dense 3D Visual Reconstructionen_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineMechanical Engineeringen_US
dc.contributor.committeechairKochersberger, Kevin Bruceen_US
dc.contributor.committeememberRoan, Michael J.en_US
dc.contributor.committeememberAbbott, A. Lynnen_US
dc.contributor.committeememberRhody, Harveyen_US
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-07202011-143334/en_US
dc.date.sdate2011-07-20en_US
dc.date.rdate2011-07-27
dc.date.adate2011-07-27en_US


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