複数UAVによる自律的な反射変換イメージング
Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles
2機のマルチロータUAVを使い、人が立ち入れない歴史的建造物内で照明方向を変えながら撮影し、表面形状や色を再現するRTIスキャンを自律的に行う手法を提案した。
著者: Vít Krátký, Pavel Petráček, Vojtěch Spurný, Martin Saska
分類: cs.RO
原文アブストラクト
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.
