Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles

Martin Saska; Pavel Petr\'a\v{c}ek; V\'it Kr\'atk\'y; Vojt\v{e}ch Spurn\'y

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arxiv 2303.01162 v1 pith:6EI3VZXZ submitted 2023-03-02 cs.RO

Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles

V\'it Kr\'atk\'y , Pavel Petr\'a\v{c}ek , Vojt\v{e}ch Spurn\'y , Martin Saska This is my paper

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keywords aerialbuildingsdeploymentdirectionhistoricalimagingmulti-rotorreflectance

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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.

Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles

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