TLV3D

=TLV3D= The idea - to map TLV in 3D using any means possible.

We maintain the data on official TAMI superclusters and release it as emperors of the digital realm.

Alon translation: open data map of Tel Aviv (same license as openstreetmaps).

Under open licenses (CC / other)
http://openslam.org/ seems to be parking space for slam projects - so far haven't found any full solutions here.

point cloud library http://docs.pointclouds.org/trunk/a02944.html

Other not open licenses
metroscape has 3d models of a few tens of bldgs in tlv googleearth has also a few tens of tlv buildings
 * requires windows/mac for the plugin, and no download link for any model (STL/other). -- Alon



will google come and nail it all down ? if we scoop them we get to ride in the google helicopter.

how to
The 3d scanners such as mantis and kinect are apparently not set up for long ranges like 10-50m which is what we're after to get buildings. Satellite photos probably are not of help here due to shallow angles and probable closed source-ness. A quadcopter may be of use but would take massive time and batteries. Rough order of magnitude of the problem:

one street every 50m

about 20km^2 of area in TLV

--> 800 km of street in TLV

--> a car / bike mounted 3d scanner is needed.

photogeometry
from several cameras with known relative angles and baseline, reconstruct 3d info using known algorithms

structured light
try to obtain 3d info from a large-ified kinect hack

it is possible to build a massive structured light rig, using a 3000+ ansi projector and a DSLR. see here > https://code.google.com/p/structured-light/

15000ansi projector - its 100nis per 1000 lumans per day i tried that method and it works well, but you can't be moving to much. you need to hit the same geometry 3 times with different "binary" patterns.

stereo (camera + laser, use parallex) maker scanner
an opensource diy scanner here

Time of Flight
Cheap LiDARs (relatively) @Hokuyo
 * 10m distance (this model, there are others, maybe 30m? also indoors/outdoors differs)

VL6180 by ST.

Structure from Motion (SfM)
Wikipedia article.

Not necessarily with an IMU, just a camera.


 * VisualSFM http://ccwu.me/vsfm/
 * Bundler http://ccwu.me/vsfm/
 * libmv, looks defunct http://ccwu.me/vsfm/
 * Python photogrametry toolbox http://www.arc-team.homelinux.com/arcteam/ppt.php
 * open multiple view geometry library http://ccwu.me/vsfm/

= Hardware =

Cameras

 * http://www.mightexsystems.com/family_info.php?cPath=1_252_273&categories_id=273
 * http://www.ptgreystore.com/ - mighty expensive (650$ for USB 3.0 camera, but 64x64 350 fps is interesting - although not for this :)
 * sphirical cameras, like ladybug give 360 video feed

= Map Stitching =
 * http://mapknitter.org/

= Monocular Slam = Monocular is a code word for a single camera, here is a list of algorithms, software has still not been tested.

Input is a bunch of camera images, offline or online (we don't need online, but a lot of the algorithms are developed for real time augmented reality applications).

Google: SLAM with camera
 * http://answers.ros.org/question/9091/slam-with-one-camera/


 * EKFMonoSlam
 * ScaViSLAM - At the moment it supports calibrated stereo rigs, and RGB-D cameras. Monocular SLAM is NOT supported (yet). github
 * FABMAP
 * PTAM blog non-commercial GPL (possible??) on github. 2013.
 * SceneLib the original? Andrew Davidson & Paul Smith