複数UAVによる遺跡マッピングの協調手法
Collaborative Mapping of Archaeological Sites using multiple UAVs
複数のドローンが分担して遺跡を撮影・情報交換することで、従来のオフライン処理より高速かつ高精度に地図を作る協調マッピング手法を提案し、インドの15世紀の要塞の3D地図を初めて作成した。
著者: Manthan Patel, Aditya Bandopadhyay, Aamir Ahmad
分類: cs.RO, cs.CV
原文アブストラクト
UAVs have found an important application in archaeological mapping. Majority of the existing methods employ an offline method to process the data collected from an archaeological site. They are time-consuming and computationally expensive. In this paper, we present a multi-UAV approach for faster mapping of archaeological sites. Employing a team of UAVs not only reduces the mapping time by distribution of coverage area, but also improves the map accuracy by exchange of information. Through extensive experiments in a realistic simulation (AirSim), we demonstrate the advantages of using a collaborative mapping approach. We then create the first 3D map of the Sadra Fort, a 15th Century Fort located in Gujarat, India using our proposed method. Additionally, we present two novel archaeological datasets recorded in both simulation and real-world to facilitate research on collaborative archaeological mapping. For the benefit of the community, we make the AirSim simulation environment, as well as the datasets publicly available.
