A 3D Landform Reconstruction Method Based on UAV Image Sequences
一种基于无人机序列成像的地形地貌重建方法

To generate 3D information from the image sequence of the normal UAV(Unmanned Aerial Vehicle) loading camera,a reconstruction method is proposed.At the first step,the key frame selecting from the sequence,the robust features extracting and corresponding of multi-images of sequence are accomplished.At the second step,two views which are far away enough and sharing lots of correspondences are selected.With the correspondences the RANSAC algorithm estimates the fundamental matrix robust and then the more accurate correspondences with less outliers are gotten,which are called as inliers.Basing on the calibrated camera parameters,the motions R and T of the view is computed by decomposition of the fundamental matrix,and then it is optimized with the correct correspondences.At last,3D reconstruction is realized by the method of triangle communicating.Experiment results show that the algorithm is efficient and it improves the robustness and accuracy of the reconstruction.