ortho_mapper

A Multi-Sensor Fusion Approach for Rapid Orthoimage Generation in Large-Scale UAV Mapping

The repository contains the source code for ortho_mapper module of our system. This partial release aims to provide insight into the underlying implementation of our approach and may be useful for researchers working in related areas.

This is a simple and easy-to-use package for checking the quality of SfM through generating orthoimage quickly.

Prerequisited

• Eigen3
• OpenCV3
• PCL
• TIFF
• JSONCPP

Example

To test this package, you can use images which has EXIF for GPS, use 'dev_3.10' in colmap

./work/shell/sfm_cam_gps.sh fx,fy,cx,cy,k1,k2,p1,p2

Change intrinsics about camera in 'config/cfg.json'.

mkdir build && cd build
cmake ..
make -j
./build/ortho_mapper config/cfg.json

The program writes result.tif and an aligned single-band, 32-bit floating point dsm.tif. DSM pixels use the same terrain samples and valid footprint as the orthoimage. Invalid DSM pixels are stored as NaN; valid values are the absolute altitudes returned by the repository's ENU-to-geodetic conversion. It also writes an aligned dsm_vis.png, using blue for low elevations, red for high elevations, and black for invalid pixels.

Citation

@inproceedings{he2025multi,
  title={A multi-sensor fusion approach for rapid orthoimage generation in large-scale uav mapping},
  author={He, Jialei and Zhan, Zhihao and Tu, Zhituo and Zhu, Xiang and Yuan, Jie},
  booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={6808--6815},
  year={2025},
  organization={IEEE}
}