Fisher Information Based Active Planning for Aerial Photogrammetry
Fisher Information Based Active Planning for Aerial Photogrammetry
复制标题
基于 Fisher 信息的航空摄影测量主动规划
DOI：
10.1109/icra48891.2023.10161136
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
R. Siegwart
中科院分区：
文献类型：
--
作者：
Jaeyoung Lim;Nicholas R. J. Lawrance;Florian Achermann;Thomas Stastny;Rik Bähnemann;R. Siegwart
小型无人驾驶航空系统（SUAS）是三维重建的有用工具，因为它们的速度，易用性和访问高效用视点的能力。今天，大多数航空测量方法生成预先规划的覆盖图案，假设平面目标区域。然而，这是低效的，因为它导致多余的重叠和次优视角，并且没有利用整个飞行包线。在这项工作中，我们提出了主动路径规划摄影测量重建。我们的主要贡献是基于Fisher信息近似离线重建的不确定性的视图效用函数。该指标使在线路径规划，使飞行中的决定，收集几何信息的图像数据在复杂的地形。我们评估我们的方法在逼真的模拟。视点选择研究表明，我们的度量导致更快，更精确的重建比国家的最先进的主动规划指标，并适应不同的相机分辨率。将我们的在线规划方法与普通的固定翼航空测量相比，在不牺牲精度的情况下，16公顷起伏地形的覆盖率提高了3.2倍。
Small uncrewed aerial systems (sUASs) are useful tools for 3D reconstruction due to their speed, ease of use, and ability to access high-utility viewpoints. Today, most aerial survey approaches generate a preplanned coverage pattern assuming a planar target region. However, this is inefficient since it results in superfluous overlap and suboptimal viewing angles and does not utilize the entire flight envelope. In this work, we propose active path planning for photogrammetric reconstruction. Our main contribution is a view utility function based on Fisher information approximating the offline reconstruction uncertainty. The metric enables online path planning to make in-flight decisions to collect geometrically informative image data in complex terrain. We evaluate our approach in a photorealistic simulation. A viewpoint selection study shows that our metric leads to faster and more precise reconstruction than state-of-the-art active planning metrics and adapts to different camera resolutions. Comparing our online planning approach to an ordinary fixed-wing aerial survey yields 3.2 × faster coverage of 16 ha undulated terrain without sacrificing precision.
影响因子：
7.8
作者：
Abraham, Ian;Murphey, Todd D.
通讯作者：
Murphey, Todd D.
风中无人机航测的Boustropedon覆盖路径规划
DOI：
10.1109/icuas.2017.7991469
发表时间：
2017
期刊：
--
影响因子：
--
作者：
Coombes M
通讯作者：
Coombes M