融合低精度GPS/IMU参数的无人机影像批处理三维重建方法

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (10): 2409-2415.

融合低精度GPS/IMU参数的无人机影像批处理三维重建方法

曹雪峰, 王庆贺, 谢理想

信息工程大学地理空间信息学院,河南郑州 450001

收稿日期:2015-06-14 修回日期:2015-07-09 出版日期:2015-10-08 发布日期:2020-08-07
作者简介:曹雪峰(1983-),男,河北保定,博士,讲师,研究方向为全球空间网格、计算机视觉;王庆贺(1991-),男,安徽阜阳,硕士生,研究方向为计算机视觉;谢理想(1993-),男,安徽六安,硕士生,研究方向为计算机视觉。
基金资助:
国家自然科学基金(41401465, 41371384)

Batched 3D Reconstruction of UAV Images Fused Low Precision Position and Orientation Parameters

Cao Xuefeng, Wang Qinghe, Xie Lixiang

Institute of Geographic Spatial Information, Information Engineering University, Zhengzhou 450001, China

Received:2015-06-14 Revised:2015-07-09 Online:2015-10-08 Published:2020-08-07

摘要/Abstract

摘要： 无人机序列影像具有高分辨率、高重叠度的特点,被用于大范围场景三维重建。现有多视图三维重建算法在处理大规模无人机序列影像时耗时严重、结果不稳定。将无人机低精度GPS/IMU参数融合到大规模无人机序列影像三维重建过程中,设计实现了无人机序列影像批处理三维重建方法。利用低精度GPS/IMU先验信息进行图像匹配,降低了重建中图像匹配的时间消耗以及减少误匹配;通过建立极线图和绘制多视图中点的轨迹,并结合低精度GPS/IMU信息,一次性求解全局坐标系下所有图像的旋转矩阵,只执行一次捆绑调整函数,降低了重建时优化的时间复杂度。通过实验验证了本方法在保证精度的同时提高了效率。

关键词: 序列影像, 三维重建, GPS/IMU参数, PMVS

Abstract: The images sequence captured by UAV has the high resolution and high overlapping characteristics, so it is used in a wide range of scene reconstruction. However, the result of these state-of-art multi-view 3D reconstruction algorithms is unstable when dealing with large-scale UAV thousands of images. In this regard, the UAV low accuracy GPS / IMU parameters sequence was fused to the large-scale UAV image reconstruction process and the UAV sequence batched image reconstruction method was proposed. The image matching time and false matching number was reduced by using low-precision GPS / IMU priori information. Through the establishment of a polar graph and drawing the midpoint of the track multi-view, combined with low-accuracy GPS / IMU information, the global coordinate system rotation matrix of all the images was disposably solved, executing only when a bundle adjustment function, reducing the reconstruction optimization of time complexity. Experimental verification of this method ensures accuracy while improving efficiency.

Key words: image sequence, 3D reconstruction, GPS/IMU parameters, PMVS

中图分类号:

TP346.2

曹雪峰, 王庆贺, 谢理想. 融合低精度GPS/IMU参数的无人机影像批处理三维重建方法[J]. 系统仿真学报, 2015, 27(10): 2409-2415.

Cao Xuefeng, Wang Qinghe, Xie Lixiang. Batched 3D Reconstruction of UAV Images Fused Low Precision Position and Orientation Parameters[J]. Journal of System Simulation, 2015, 27(10): 2409-2415.

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