Unmanned aerial vehicle image rapid three-dimensional reconstruction method for field unknown environment

An unknown environment and 3D reconstruction technology, applied in the field of rapid 3D reconstruction of UAV images, can solve the problems of high image resolution, inability to achieve fast reconstruction or even real-time reconstruction, and inability to meet fast reconstruction, so as to improve grid quality and enhance The effect of 3D reconstruction details
CN112085844AActive Publication Date: 2020-12-15NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
Publication Date
2020-12-15

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Abstract

The invention discloses an unmanned aerial vehicle image rapid three-dimensional reconstruction method for a field unknown environment. According to the invention, the method includes using an OpenMPmulti-thread processing mechanism to resize image returned by an unmanned aerial vehicle, sorting the images, extracting feature points in a parallel grid format, obtaining sparse point clouds of allimage clusters through a global motion recovery structure, calculating depth images of the images, and constraining regions of interest through image Mask; and based on a depth map fusion method, obtaining the dense point cloud of each image cluster, and combining the reconstruction results of each cluster to obtain the three-dimensional structure of the whole scene. The method can be realized without depending on complex image acquisition equipment and computer equipment, and the reconstruction speed is greatly improved by using parallel grid type feature extraction; through point cloud partitioning and grid partitioning, the memory pressure is reduced, and the reconstruction speed is increased.
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Description

technical field

[0001] The invention relates to the field of unmanned aerial vehicle technology and the field of three-dimensional reconstruction, in particular to a method for rapid three-dimensional reconstruction of unmanned aerial vehicle images facing unknown environments in the field. Background technique

[0002] At present, in outdoor or field applications, UAVs can realize rapid and comprehensive three-dimensional reconstruction of a scene, such as forestry resource protection in the wild, post-disaster rescue of fires and earthquakes, border security, oil fields or offshore platform oil and gas facilities, and power facilities. Monitoring and other fields have very important application value.

[0003] For the 3D reconstruction requirements of wild scenes, if it is realized based on the satellite platform, there is a problem of insufficient resolution, and it is impossible to clearly construct a 3D scene in the wild. For more accurate radar laser scanning reconstr...

Claims

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