| Title: |
Ant3D: Evolution of a Multi-Camera Fisheye System for 3D Mapping in Confined Spaces |
| Authors: |
Perfetti, Luca; El-Alailyi, Ahmad; Fassi, Francesco; Remondino, Fabio; Sgrenzaroli, Matteo; Vassena, Giorgio Paolo Maria |
| Contributors: |
Perfetti, Luca; El-Alailyi, Ahmad; Fassi, Francesco; Remondino, Fabio; Sgrenzaroli, Matteo; Vassena, Giorgio Paolo Maria |
| Publication Year: |
2026 |
| Collection: |
RE.PUBLIC@POLIMI - Research Publications at Politecnico di Milano |
| Subject Terms: |
Multi-camera; Photogrammetry; SLAM; Visual SLAM; Mobile Mapping; Architecture |
| Description: |
Ant3D is a fisheye multi‐camera system for 3D mapping in confined environments, designed and refined over a seven‐year period. This paper has two aims: to present the latest tests reflecting recent system developments and to summarize the design journey and milestones. We compare three successive surveys tests conducted in the same challenging test site: meandering masonry interiors and rock‐cut passages within San Vigilio Castle (Bergamo, Italy). The 2018 test used a low‐cost GoPro multi‐camera rig; the 2020 test used Ant3D v1, a custom prototype improved based on the previous experiences; the 2025 test employed the first industrialized Atom‐Ant3D, integrating SLAM‐based pose estimation, pose‐graph optimization, and SLAM‐aided SfM to accelerate processing. The comparison considers reconstruction drift against a TLS ground‐truth point cloud and processing times. Results show Ant3D v1 achieves high accuracy (max deviation ~3cm) but required extensive processing times (~20h), Atom‐Ant3D offers major time savings (~4.5h) with moderate accuracy trade‐offs, and the GoPro rig performs worst. The discussion outlines design and processing guidelines for reliable, fast mapping of narrow spaces. |
| Document Type: |
article in journal/newspaper |
| Language: |
English |
| Relation: |
volume:XLVIII-2/W12-2026; firstpage:375; lastpage:382; numberofpages:8; journal:INTERNATIONAL ARCHIVES OF THE PHOTOGRAMMETRY, REMOTE SENSING AND SPATIAL INFORMATION SCIENCES; https://hdl.handle.net/11311/1306868 |
| DOI: |
10.5194/isprs-archives-xlviii-2-w12-2026-375-2026 |
| Availability: |
https://hdl.handle.net/11311/1306868; https://doi.org/10.5194/isprs-archives-xlviii-2-w12-2026-375-2026; https://isprs-archives.copernicus.org/articles/XLVIII-2-W12-2026/375/2026/; https://isprs-archives.copernicus.org/articles/XLVIII-2-W12-2026/375/2026/isprs-archives-XLVIII-2-W12-2026-375-2026.pdf |
| Rights: |
info:eu-repo/semantics/openAccess |
| Accession Number: |
edsbas.68A71D6F |
| Database: |
BASE |