利用无人机影像和广义迭代重加权最小二乘法的三维重建

发布时间：2018-05-01 16:14

本文选题：无人机 + 三维重建　；参考：《测绘科学技术学报》2017年03期

【摘要】：为了提高基于无人机影像重建三维场景的效率,提出了应用广义迭代重加权最小二乘法的全局式三维重建方法。首先,介绍了广义迭代重加权最小二乘法的基本思想和具体步骤;接着,将全局旋转矩阵的求解转化为李代数中旋转向量的求解问题,利用结合范数优化和迭代重加权最小二乘的方法求出全局旋转最优解;然后,根据极线几何约束条件,解算相机在全局坐标系下的相对平移方向向量,在广义迭代重加权最小二乘架构下,利用二次规划法求出相机全局位置最优解;最后,对影像位姿参数和重构三维点进行光束法平差优化。实验结果表明该方法在提高重建效率的同时,能够更真实地恢复场景的几何形态。
[Abstract]:In order to improve the efficiency of 3D scene reconstruction based on UAV image, a global 3D reconstruction method based on generalized iterative reweighted least square method is proposed. Firstly, the basic idea and concrete steps of the generalized iterative reweighted least square method are introduced, and then, the solution of the global rotation matrix is transformed into the solution of the rotation vector in the lie algebra. The optimal solution of global rotation is obtained by combining norm optimization with iterative reweighted least square method, and then the relative translation direction vector of camera in the global coordinate system is calculated according to the geometric constraints of the polar line. In the framework of generalized iterative re-weighted least squares, the quadratic programming method is used to find the optimal solution of the camera's global position. Finally, the image pose parameters and reconstructed 3D points are optimized by the beam method. Experimental results show that the proposed method not only improves the reconstruction efficiency, but also can restore the geometric shape of the scene more realistically.
【作者单位】：信息工程大学;61206部队;
【基金】：国家自然科学基金项目(41471387;41301526)
【分类号】：P23

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