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This paper presents OpenREALM, a real-time mapping framework for UnmannedAerial Vehicles (UAVs). A camera attached to the onboard computer of a movingUAV is utilized to acquire high resolution image mosaics of a targeted area ofinterest. Different modes of operation allow OpenREALM to perform simplestitching assuming an approximate plane ground, or to fully recover complex 3Dsurface information to extract both elevation maps and geometrically correctedorthophotos. Additionally, the global position of the UAV is used togeoreference the data. In all modes incremental progress of the resulting mapcan be viewed live by an operator on the ground. Obtained, up-to-date surfaceinformation will be a push forward to a variety of UAV applications. For thebenefit of the community, source code is public athttps://github.com/laxnpander/OpenREALM.

OpenREALM: Real-time Mapping for Unmanned Aerial Vehicles