3D-Reconstruction with Uncalibrated Stereo

A drone may encounter challenges navigating urban areas due to complex structures and obstacles. Traditional 2D mapping lacks the situational awareness needed for safe and precise operations. To overcome this, we require a robust 3D reconstruction solution, enabling drones to model environments accurately, plan optimal routes, detect obstacles, and ensure reliable deliveries. This technology improves collision avoidance and navigation in dynamic urban landscapes.

In this study, we assessed Multi-View Stereo (MVS) and Structure-from-Motion (SFM) for 3D reconstruction accuracy and efficiency. Using publicly available datasets, we found MVS excels in producing detailed reconstructions, while SFM is more efficient with varied viewpoints.