Edge Computing for Real-Time Vison-based Drone Registration on a Revit Model

This video shows the view from a drone that is flying outside the Tepper Quad at Carnegie Mellon University and continuously streaming video to a cloudlet on the ground.   SIFT-based pattern matching on the cloudlet  identifies what part of the building is currently in view.   A bounding box of this view is superimposed on a 3D model of the building that has been created from its Revit engineering drawing.  As the drone moves, the bounding box continuously tracks its motion.  This PoC can be viewed as a form of "inverted augmented reality" in which the physical world (seen by the drone) in brought into the virtual world (represented by the 3D model).