Unmanned aerial vehicle-based real-time three-dimensional reconstruction method

Abstract

The invention discloses an unmanned aerial vehicle-based real-time three-dimensional reconstruction method. The method comprises the following steps of: 1, acquiring scene data, obtaining depth data through a depth sensor according to the acquired scene data, and obtaining a depth map; 2, carrying out noise preprocessing on the depth map obtained in the step 1, wherein the noise preprocessing comprises a morphological operation and a filtering operation; 3, carrying out acceleration processing on the noise preprocessed depth map, wherein the acceleration processing comprises carrying out uniform sampling on two-dimensional points in the noise preprocessed depth map; 4, converting the depth map accelerated in the step 3 into a point cloud; 5, modeling the point cloud obtained in the step 4;and 6, carrying out noise re-processing on the modeled point cloud obtained in the step 5, so as to realize three-dimensional reconstruction. According to the method, real-time three-dimensional reconstruction can be carried out on scenes, so that possibility is provided for subsequent intelligent processing of unmanned aerial vehicles and application of the unmanned aerial vehicles can be propelled.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to a real-time three-dimensional reconstruction method based on an unmanned aerial vehicle. Background technique [0002] With the rapid development of information technology and the continuous maturity of equipment technology, there have been unmanned aerial vehicles, referred to as unmanned aerial vehicles (UAV). Because of its characteristics of non-contact, zero casualties, and long-term work, it has been widely used in military and civilian fields. [0003] From a technical point of view, drones can be divided into several categories: unmanned helicopters, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airships, and unmanned paragliders. In the civilian field, UAVs can be used in aerial photography, news reports, environmental monitoring, express delivery, disaster monitoring, traffic patrols and power inspections, etc...

AI Technical Summary

Problems solved by technology

[0007] (2) When the deflection angle between pictures is large or the light, season, etc. are different, it will be difficult to match the feature points;

[0008] (3) The feature matching speed is slow, very time-consuming, and not real-time

[0009] Using lidar to quickly scan the scene can efficiently and accurately obtain the information of the three-dimensional points of the scene, but the cost of lidar is high, and it is difficult to popularize and apply

[0010] Based on the reconstruction algorithm of 3D voxel, the method is to initialize a 3D body first, then divide it to obtain smaller cube grids, which are voxels, and then design a cost functional function for each The consistency between a voxel is evaluated, and finally the cost function is minimized to complete the estimation of the three-dimensional surface; the common problem with this method is that the reconstruction result contains more noise

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