Multi-machine cooperative scanning method, device and electronic equipment

Abstract

The present invention provides a multi-device cooperative scanning method, the method is applied to a server, and the server is connected to a first unmanned aerial vehicle and at least one second unmanned aerial vehicle respectively, and the first unmanned aerial vehicle is used for scanning The three-dimensional voxel map of the scene to be scanned, the second drone is used to scan the scene image of the scene to be scanned, the scene to be scanned includes at least one area to be scanned, including: controlling the first drone Acquiring a three-dimensional voxel map of the current area to be scanned, and generating a coverage model corresponding to the current area to be scanned based on the three-dimensional voxel map; respectively determining scanning trajectories corresponding to each of the second drones based on the coverage model ; controlling each of the second drones to scan the scene image of the current area to be scanned according to the scanning trajectory corresponding to each of the second drones. The invention can effectively improve the efficiency and precision of scanning scene images, thereby significantly improving the effect of three-dimensional reconstruction.

Description

technical field [0001] The present invention relates to the technical field of drone scanning, in particular to a multi-device cooperative scanning method, device and electronic equipment. Background technique [0002] At present, whether it is urban 3D (three-dimensional, three-dimensional) content creation through augmented reality and virtual reality, or digital twins and autonomous driving technologies in smart cities, it is inseparable from the reconstruction and rendering of urban outdoor environments. The construction of urban real-world 3D models, which is another important medium after video and video, plays an increasingly important role in urban development, among which drones play an irreplaceable role. UAVs are widely used in large-scale 3D scanning and scene reconstruction in the air. In practical applications, in order to obtain 3D reconstruction effects, it is necessary to control UAVs to collect photos as densely as possible, so as to cover the data required...

AI Technical Summary

Problems solved by technology

However, in the 3D reconstruction technology provided by related technologies, it is necessary to rely on experienced pilots to control the UAV to collect photos, and this technical method is bound to be difficult to accurately control the UAV to take photos from every angle of view

At the same time, limited by the flight time of the UAV, the pilot does not have enough time to think about how to design the flight trajectory, attitude and angle, etc., and cannot accurately avoid obstacles in the flight environment, resulting in poor photos taken. And then affect the final 3D reconstruction effect

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