Fast 3D reconstruction device for outdoor scenes based on UAV images

Abstract

The invention discloses a fast three-dimensional reconstruction device for an outdoor scene based on an unmanned aerial vehicle image, which comprises an unmanned aerial vehicle module, a sparse point cloud construction module and a three-dimensional scene construction module. The UAV module includes the UAV and the UAV ground station, and the UAV carries a camera and a communication device; the sparse point cloud construction module extracts the feature points in each grid area through the OpenMP multi-thread processing mechanism, and compares the adjacent The 3D scene construction module fuses each depth map to obtain a dense point cloud of each image cluster; uses a multi-view geometric algorithm to perform mesh reconstruction, and merges the reconstruction results of each cluster to obtain the 3D structure of the entire scene . The device of the present invention uses parallel grid-style feature extraction, which greatly improves the reconstruction speed; through point cloud segmentation and grid segmentation, the memory pressure is reduced, and the reconstruction speed is accelerated.

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 device for rapid three-dimensional reconstruction of outdoor scenes based on unmanned aerial vehicle images. 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 reconstruction, it has th...

AI Technical Summary

Problems solved by technology

[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 reconstruction, it has the disadvantage of being expensive and heavy, and it is very inconvenient to perform 3D reconstruction in the field environment

Most of the traditional image-based 3D reconstruction methods have shortcomings such as long running time, poor timeliness, and high requirements for equipment, which cannot meet the needs of rapid reconstruction such as emergency rescue and disaster relief, military reconnaissance, and border security.

For fast and even real-time 3D reconstruction under this requirement, traditional methods cannot solve this problem well

Specifically, the traditional image-based 3D reconstruction methods have the following three problems: (1) This type of method has high requirements for the quality of the input image data, and the 3D reconstruction effect for large scenes in the wild is poor; (2) ) In the process of using drones for 3D reconstruction in this type of method, generally the drone is used to shoot all the scenes first, and then after returning, the captured images are processed to perform 3D reconstruction of the captured scenes, which does not have timeliness (3) The pictures taken by drones have high resolution and large amount of data. The traditional reconstruction method is very time-consuming and cannot meet the requirements of fast reconstruction or even real-time reconstruction.

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