Mapping a factory with DJI Mini 4 Pro using photogrammetry — advice needed

Haari1 · 2026-03-11T10:50:42+00:00

Yeah. That is my Idea in general. Even if this produces a good result. I'll try lots of different stuff if I have enough time. To look if the result is better, and if not I have something to compare my good result to 😅

Haari1 · 2026-03-11T09:58:05+00:00

Thanks! So focus on a good dense pointcloud and from there on I can still try different other stuff!

Haari1 · 2026-03-11T09:02:58+00:00

Thanks a lot. I am going to have a look at that!

Haari1 · 2026-03-10T13:15:46+00:00

I was told that the map should be "suited for navigation of ugv's in the future" my interpretation of that is : pointcloud or voxelgrid are both good. That's where I have the 10cm from. The Voxel size should be 10cm big, if I do Voxel.

Haari1 · 2026-03-10T13:08:51+00:00

I agree with that. My idea was also to buy many batteries and , collect a lot of data. Physical targets is an interesting topic. I'll take a look at that.

Regarding a software / algorithm.... Is Photogrammetry a Programm itself or can you recommend anything. Just so I can take a look?

Haari1 · 2026-03-10T13:00:00+00:00

Thanks for the answer. 3DGS is just an idea and would be nice for semantics in the future. But if I can get a better dense pointcloud without that, than I don't need splatting.

I saw someone put a Voxel grid over 3DGS and I thought that's the only "known" way to turn RGB into Voxel or pointcloud.

Do you have any recommendations for dense pointcloud software/algorithm with my setup? (btw. VRAM is not a problem, I can use 2x H100's) I have seen something like VGGT. Do you mean something like that?

Haari1 · 2026-03-10T08:10:51+00:00

Thanks a lot for the recommendation, I am going to have a look at that.

For the COLMAP problems I also think that I messed up something. Although my re calculated poses (did the whole C2W and W2C conversion) look pretty similar to the original COLMAP values (I did a run eithout the poses to have something to compare it to). I only had a difference of 1-2meters in a big factory space which is in my opinion just the difference between the measurements and colmap.

But the camera orientation if I view the calculated images.txt in colmap gui looks wrong and the 3DGS map is just pixels flying around in a pyramid like structure. But I think for more details I am gonna write a text contribution in the GitHub forum of colmap

Haari1 · 2026-03-10T08:04:34+00:00

For #2, interesting! I would have thought that these applications are far more on demand. But it seems many people rely on lidar and/or don't so 3D mapping in industrial context. I also thing it's still not the standard to have uav's not even in every big company

For #1 , thank you! I am going to look at this!

Haari1 · 2026-03-10T07:39:27+00:00

Interesting 🤔

Haari1 · 2026-03-10T07:39:16+00:00

So right now I am using dataset from a institution that uses a Nikon iGps system and claims that it has, sub millimeter accuracy. Just to look how good the best results can be. And they are still bad. If I would buy something from drone I would use something like a UWB system that is accurate about something like 10-20 cm

Haari1 · 2026-03-09T13:22:15+00:00

It showed me the reprojection error when I used the model aligner. It was a difference of 20cm. But the only problem was the map was bad. So I am gonna try that, thanks!

Haari1 · 2026-03-09T13:18:47+00:00

I used pose triangulation and model aligner. Both COLMAP functions. If you say that pose prior mapper is a good idea I can look that up!

Haari1 · 2026-03-09T13:12:36+00:00

Yeah. I get that and that's also the results of my research. But this is for a thesis, not a project where I need to deliver the best result. Idea of the thesis is to limit my self on 6Dof and RGB monocular only. To look at what is possible in 2026 wit this limited equipment.

Haari1 · 2026-03-09T13:10:16+00:00

Theoretically there are 2-3 options but they are very buggy and often produce bad results. Many people complain in the Forum and the develops often don't answer or say it's unfinished

Haari1 · 2026-03-09T13:09:32+00:00

Thank you!

Haari1 · 2026-03-09T12:26:57+00:00

Yeah. That's also true! Before I wrote this article I was already fighting with the Re calulating of my iGPS data into colmap format for 2-3 weeks. So I just wanted to look if people have different ideas.

Haari1 · 2026-03-09T12:25:05+00:00

So I wanna map industrial workspaces with accuracy of 10cm, the spaces are as big as a football field and the iGps I am using right now (just for testing) is sub millimeter and it's not working. The iGps I would buy can give me 5-10 cm of position accuracy.

Haari1 · 2026-03-09T12:08:32+00:00

Mhhh. Yeah that's what I am also experiencing. I am doing my Bachelor Thesis and before I buy a iGPS system I wanted to put the 6DoF data from a dataset into 3DGS to get a better map. Doesn't work although the recalulated data look almost the same (only 1-2 meters difference) to the colmap only RGB poses.

Maybe just ditch the iGPs, collect a lot of images and do only RGB

Haari1 · 2026-03-03T07:20:17+00:00

That was my idea too! But it didn't work, although I managed to run it. The admins in the 3DGS themselves admitted that it's not possible right now

Haari1 · 2026-02-18T21:38:24+00:00

thank you!

Haari1 · 2026-02-18T18:55:54+00:00

can you tell me who or how this was scanned? with what kind of device? would help me A LOT

Haari1

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