Unmanned aerial vehicle path determination method and apparatus for reconstructing three-dimensional model

A technology for 3D model and path determination, which can be used in camera devices, 3D modeling, image data processing, etc., and can solve the problems of reducing 3D reconstruction efficiency and high cost.

Active Publication Date: 2017-01-04
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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AI Technical Summary

Problems solved by technology

The existing texture image acquisition process relies on manual control, and the UAV flight trajectory and camera shooting interval are determined empirically
In order to ensure that the overlap rate of photos meets the requirements of 3D reconstruction, a large numbe

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  • Unmanned aerial vehicle path determination method and apparatus for reconstructing three-dimensional model

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Embodiment Construction

[0051] The preferred embodiments of the invention will be further described in detail below.

[0052] Such as figure 1 The shown process, a method for determining the UAV path of the three-dimensional model reconstruction of an embodiment includes the following steps:

[0053] S1. Construct a three-dimensional point model that constitutes the outline of the building to be photographed

[0054] The facades of most buildings are vertical or nearly vertical to the ground, so the cross-sectional outline of the building can be accurately outlined according to the orthophoto image of the building. Users can easily obtain orthophoto images of buildings from Internet maps (such as Baidu satellite maps and Google satellite maps). Set the local NED coordinate system so that the X-axis faces north, the Y-axis faces east, the Z-axis faces down perpendicular to the ground plane, and the origin is on the ground plane. The length of the building on the Y axis, the width on the X axis, and...

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Abstract

The invention discloses a unmanned aerial vehicle (UAV) path determination method and apparatus for reconstructing a three-dimensional model, the method comprising the steps of: constructing a three-dimensional point model forming an outline of a captured building; determining a photographing points of a flight path of the UAV around the building so that a camera on the UAV can capture a corresponding point set covering the three-dimensional point model at each photographing point and the overlap ratio of the point sets captured by the camera at adjacent photographing points is greater than an overlap ratio threshold; instructing the UAV to fly along the flight path and instructing the camera to photograph the building at corresponding photographing points. The method can calculate minimum photographing point sets satisfying a three-dimensional reconstruction requirement just by acquiring the height and the two-dimensional orthograph of a three-dimensional reconstructed target, so as to provide guidance for a three-dimensional reconstruction data acquisition process, to ensure that the acquired images meet the three-dimensional reconstruction requirement, to avoid the collection of redundant image information, and to improve the efficiency of the three-dimensional reconstruction process.

Description

【Technical field】 [0001] The invention relates to a UAV path determination method and device for three-dimensional model reconstruction. 【Background technique】 [0002] Spatial information is an important basic data, and its collection and application run through the entire process of emergency management. Existing spatial information is mostly expressed in the form of two-dimensional maps, and many valuable terrain and feature details such as texture, height, and shape information are difficult to present. In the process of emergency management, the 3D real scene map can provide more intuitive and detailed spatial information, and provide better support for emergency decision-making. [0003] In order to obtain a high-precision 3D model of the building, it is necessary to fly around the building layer by layer to completely obtain the surface texture information of the building. The existing texture image acquisition process relies on manual control, and the UAV flight tr...

Claims

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Application Information

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IPC IPC(8): G06T17/05G01C11/02
CPCG01C11/02G06T17/05
Inventor 王飞郑晓翠
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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