3D Model Reconstruction Of Buildings Based On Quadrotor And Its Application

With the rapid development of information society,the demand for real-world models,especially three-dimensional models of buildings,has been increasing for various applications such as virtual reality and digital city.At the same time,UAV,especially consumer quadrotor UAVs are being more and more widely used in aerial photography and other fields due to their low cost and good performance.However,the traditional method of using 3D scanning equipment is costly and inconvenient to transport.This paper focuses on the application of UAV,a flexible image and video acquisition platform,to the reconstruction of 3D models of buildings,and studies on a set of low-cost and flexible reconstruction method for 3D building models.Currently,it is very difficult for the manually-controlled drone to obtain ideal videos for specific targets,especially the aerial videos of buildings,and the requirements of the operator are very high.To tackle this issue,this paper studies a set of UAV video aerial path planning and execution system to reduce the difficulty of using UAV to obtain aerial videos of buildings.The main work and achievements of this paper are as follows:1.In this paper,a 3D model reconstruction method based on UAV aerial sequences is proposed.The method obtains the sparse point cloud of the scene through the Sf M process,and then rebuilds the 3D contour model of the building by several processes with small computational cost.The advantage of this method is that the source of the image data is convenient and the reconstruction time is greatly reduced compared with the method of multi-view stereo while the details of the building top are maintained to some extent.2.In view of the current lack of an effective and convenient platform for the UAV to be used for the reconstruction of 3D models of buildings,a 3D model reconstruction system was developed by using the UAV platform.The system can reconstruct the3 D sparse point cloud of outdoor scene from the UAV aerial sequence and detect the ground plane and the building point clouds from the scene.The system further reconstructs the 3D model of the target building in the scene,which is suitable for those applications where a few demands on the model of the building are imposed.3.In view of the current situation where manually-controlled drone is hard to get a ideal video of the target building,we developed a path planning and execution system for consumer quadrotor UAVs.The system pre-generates a safe and effective UAV aerial path and then the path is actually executed by a quadrotor to shoot a video of the target building.The system has been proved to be effective in assisting users to plan the aerial mission for the target buildings,generating effective and feasible aerial routes,which is executed by the drone in order to obtain better-performing videos.