OpenFlyScan: A Quality-Guided Aerial Reconstruction System for Consumer Drones

arXiv:2609.24253 · cs.RO, cs.CV · Submitted 2026-09-21 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-21

Updated: 2026-09-21

Code: https://github.com/yyfz/Pi3

Project page: https://openflyscan.github.io

Terminology

• Alignment — 5× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Aggregation — 4× in this paper · explained in 1 episode
• Transformer — 4× in this paper · explained in 2 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Gaussian Splatting — 3× in this paper · explained in 4 episodes
• Unreal Engine — 3× in this paper
• 3D Gaussian Splatting — 2× in this paper · explained in 2 episodes
• 3D Gaussian Splatting (3DGS) — 2× in this paper · explained in 4 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Fisher Information — 2× in this paper · explained in 3 episodes
• Reconstruction Error — 2× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Information Gain — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Pruning — 1× in this paper · explained in 4 episodes
• Uncertainty Quantification — 1× in this paper · explained in 8 episodes

Sources

• Openfly: A comprehensive platform for aerial vision-language navigation
• Beyond a Single Light: A Large-Scale Aerial Dataset for Urban Scene Reconstruction Under Varying Illumination
• On-the-fly Feedback SfM: Online Explore-and-Exploit UAV Photogrammetry with Incremental Mesh Quality-Aware Indicator and Predictive Path Planning
• UAVFF3D: A Geometry-Aware Benchmark for Feed-Forward UAV 3D Reconstruction
• GauU-Scene V2: Assessing the Reliability of Image-Based Metrics with Expansive Lidar Image Dataset Using 3DGS and NeRF

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