本文選題：無人機(jī) + 三維重建�。� 參考：《測(cè)繪科學(xué)技術(shù)學(xué)報(bào)》2017年03期

【摘要】：為了提高基于無人機(jī)影像重建三維場(chǎng)景的效率,提出了應(yīng)用廣義迭代重加權(quán)最小二乘法的全局式三維重建方法。首先,介紹了廣義迭代重加權(quán)最小二乘法的基本思想和具體步驟;接著,將全局旋轉(zhuǎn)矩陣的求解轉(zhuǎn)化為李代數(shù)中旋轉(zhuǎn)向量的求解問題,利用結(jié)合范數(shù)優(yōu)化和迭代重加權(quán)最小二乘的方法求出全局旋轉(zhuǎn)最優(yōu)解;然后,根據(jù)極線幾何約束條件,解算相機(jī)在全局坐標(biāo)系下的相對(duì)平移方向向量,在廣義迭代重加權(quán)最小二乘架構(gòu)下,利用二次規(guī)劃法求出相機(jī)全局位置最優(yōu)解;最后,對(duì)影像位姿參數(shù)和重構(gòu)三維點(diǎn)進(jìn)行光束法平差優(yōu)化。實(shí)驗(yàn)結(jié)果表明該方法在提高重建效率的同時(shí),能夠更真實(shí)地恢復(fù)場(chǎng)景的幾何形態(tài)。
[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.
【作者單位】： 信息工程大學(xué);61206部隊(duì);
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(41471387;41301526)
【分類號(hào)】：P23

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