Photogrammetric 3D reconstruction of the old slaughterhouse in budapest

In this paper we address the problem of photo grammetric 3D reconstructions of an industrial cultural heritage site in Budapest, namely the Old Slaughterhouse. We perform an extensive comparison and evaluation of the state-of-the-art online visual SLAM (Simultaneous Localization and Mapping) and offline visual SFM (Structure from Motion) methods in order to obtain the 3D model of the building. We show results obtained using a dataset recorded with a camera-equipped Micro Air Vehicle.