# Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles

arXiv: https://arxiv.org/abs/2303.01162 · HTML: https://mlsanity.com/paper/2303.01162/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Mar 2023.

## Built on by (most cited first, 2 of 2)

- [New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy](https://mlsanity.com/paper/2303.02962/) (2023)
- [RADRON: Cooperative Localization of Ionizing Radiation Sources by MAVs with Compton Cameras](https://mlsanity.com/paper/2510.26018/) (2025)

## Abstract (arXiv)

A Reflectance Transformation Imaging technique (RTI) realized by multi-rotor Unmanned Aerial Vehicles (UAVs) with a focus on deployment in difficult to access buildings is presented in this letter. RTI is a computational photographic method that captures a surface shape and color of a subject and enables its interactive re-lighting from any direction in a software viewer, revealing details that are not visible with the naked eye. The input of RTI is a set of images captured by a static camera, each one under illumination from a different known direction. We present an innovative approach applying two multi-rotor UAVs to perform this scanning procedure in locations that are hardly accessible or even inaccessible for people. The proposed system is designed for its safe deployment within real-world scenarios in historical buildings with priceless historical value.