摘要:隨著我國低空空域?qū)γ裼玫拈_放,無人機 (Unmanned aerial vehicles, UAVs)的應用將是一個巨大的潛在市場. 目前,如何對輕便的無人機獲取的圖像進行全自動處理,是一項急需解決的瓶頸技術(shù). 本文將探索如何將近年來在視頻、圖像領(lǐng)域獲得巨大成功的三維重建技術(shù)應用到無人機圖像處理領(lǐng)域, 對無人機圖像進行全自動的大場景三維重建.本文首先給出了經(jīng)典增量式三維重建方法Bundler在無人機圖像處理中存在的問題, 然后通過分析無人機圖像的輔助信息的特點,提出了一種基于批處理重建(Batch reconstruction)框架下的魯棒無人機圖像三維重建方法.多組無人機圖像三維重建實驗表明: 本文提出的方法在算法魯棒性、三維重建效率與精度等方面都具有很好的結(jié)果.

Abstract:With the latest deregulation and opening-up policy of Chinese government on low altitude airspace to private sectors, the applications of unmanned aerial vehicles (UAVs) will be a huge potential market. Currently the automatic processing technology of UAV images is far behind the market demand, and has become the bottleneck of various applications. This work is meant to apply hugely successful scene reconstruction techniques in computer vision field to large scene reconstruction from UAV images. To this end, at first, specific problems of direct application of the Bundler, a popular increment reconstruction technique in computer vision are investigated. Then a batch reconstruction method from UAV images is proposed by fully taking into account various pieces of prior information which are usually available in UAV images, such as those from GPS, IMU, DSM, etc. Our method is tested with several sets of UAV images, and the experiments show that our method performs satisfactorily in terms of robustness, accuracy and scalability for UAV images.

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