View Planning for Multi-View Stereo 3D Reconstruction Using an Autonomous Multicopter
View Planning for Multi-View Stereo 3D Reconstruction Using an Autonomous Multicopter
复制标题
使用自主多旋翼飞行器进行多视图立体 3D 重建的视图规划
DOI：
10.1007/s10846-011-9576-2
复制
发表时间：
2012
影响因子：
3.3
通讯作者：
G. Hirzinger
中科院分区：
文献类型：
--
作者：
Korbinian Schmid;H. Hirschmüller;Andreas Dömel;I. Grixa;M. Suppa;G. Hirzinger
多视图立体算法对于户外场所的数字重建来说是一种有吸引力的技术。关于数据采集过程，就移动性和视点放置的灵活性而言，携带数码相机的垂直起降无人机是一个合适的平台。我们推出基于自动化无人机的数据采集和室外站点重建系统。特别关注使用粗糙数字表面模型（DSM）和最少数据预处理的基于模型的视图规划问题。所开发的视图规划启发式考虑了多视图立体重建技术施加的覆盖范围、最大视角和重叠约束。该算法的时间复杂度与感兴趣区域的大小成线性关系。我们在建筑物和山坡这两个场景中展示了整个系统的效率。
Multi-view stereo algorithms are an attractive technique for the digital reconstruction of outdoor sites. Concerning the data acquisition process a vertical take off and landing UAV carrying a digital camera is a suitable platform in terms of mobility and flexibility in viewpoint placement. We introduce an automated UAV based data acquisition and outdoor site reconstruction system. A special focus is set on the problem of model based view planning using a coarse digital surface model (DSM) with minimal data preprocessing. The developed view planning heuristic considers a coverage, a maximum view angle and an overlapping constraint imposed by multi-view stereo reconstruction techniques. The time complexity of the algorithm is linear with respect to the size of the area of interest. We demonstrate the efficiency of the entire system in two scenarios, a building and a hillside.