SLAM-based 3D surveying

In the last years, we have witnessed a more and more fusion of photogrammetric, computer vision and robotics algorithms (e.g. visual odometry, SLAM, etc.) and their embedding in 3D surveying systems. This allows real-time on-site processing operations with the generation of high-quality 3D results, either using pure image-based solutions or LiDAR-based approaches. We focused on image-based mobile mapping concept, based on visual SLAM solution, to provide innovative and unique features to support the image acquisition and optimising the processing steps. 

Our activities include:

Representative Publications:

- Menna, F., Torresani, A., Battisti, R., Nocerino, E., Remondino, F., 2022: A modular and low-cost portable VSLAM system for real-time 3D mapping: from indoor and outdoor spaces to underwater environments. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLVIII-2/W1-2022, 153–162

- Di Stefano, F., Torresani, A., Farella, E.M., Pierdicca, R., Menna, F., Remondino, F., 2021. 3D Surveying of Underground Built Heritage: Opportunities and Challenges of Mobile Technologies. Sustainability, Vol.13, 13289

- Torresani, A., Menna, F., Battisti, R., Remondino, F., 2021. A V-SLAM Guided and Portable System for Photogrammetric Applications. Remote Sensing, Vol.13(12), 2351

- A. Torresani, S. Rigon, E. M. Farella, F. Menna, F. Remondino, 2021: Unveiling large-scale historical contents with V-SLAM and markerless mobile AR solutions. ISPRS Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLVI-M-1-2021, 761–768

- F. Menna, E. Nocerino, M. M. Nawaf, J. Seinturier, A. Torresani, P. Drap, F. Remondino, B. Chemisky, 2019: Towards real-time underwater photogrammetry for subsea metrology applications. IEEE Oceans 2019 Conference, June 2019, Marseille (France), DOI: 10.1109/OCEANSE.2019.8867285

- A. Torresani and F. Remondino, 2019: Videogrammetry vs photogrammetry for heritage 3D reconstruction. ISPRS Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., Vol. XLII-2/W15, 1135-1140

Funding:  internal, EIT-RM