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In this paper, we present an approach for acquiring textured 3D\udmodels of room-sized indoor spaces using a quadrocopter. Such\udroom models are for example useful for architects and interior\uddesigners as well as for factory planners and construction managers.\udThe model is internally represented by a signed distance\udfunction (SDF) and the SDF is used to directly track the camera\udwith respect to the model. Our solution enables accurate position\udcontrol of the quadrocopter, so that it can automatically follow a\udpre-defined flight pattern. Our system provides live feedback of\udthe acquired 3D model to the user. The final model consisting of a\udtextured 3D triangle mesh can be saved in several standard CAD\udfile formats

the international archives of the photogrammetry, remote sensing and spatial information sciences/international archives of the photogrammetry, remote sensing and spatial information sciences

DENSE TRACKING AND MAPPING WITH A QUADROCOPTER