面向三维重建的无人机航拍路径规划技术研究综述

doi:10.13474/j.cnki.11-2246.2022.0239

测绘通报 ›› 2022, Vol. 0 ›› Issue (8): 98-103,122.doi: 10.13474/j.cnki.11-2246.2022.0239

面向三维重建的无人机航拍路径规划技术研究综述

吴昌松^1,2, 彭业萍^1,2, 曹广忠^1,2, 闫妍³

1. 深圳大学机电与控制工程学院, 广东深圳 518060;
2. 广东省电磁控制与智能机器人重点实验室, 广东深圳 518060;
3. 南宁师范大学北部湾环境演变与资源利用教育部重点实验室, 广西南宁 530001

收稿日期:2021-10-13 修回日期:2022-05-22 发布日期:2022-09-01
通讯作者: 彭业萍。E-mail:pyp8020@163.com
作者简介:吴昌松(1998-),男,硕士生,主要研究方向为大型场景三维重建。E-mail:wu_changsong@163.com
基金资助:
国家自然科学基金(51905351;U1813212);深圳市科技计划(JCYJ20190808113413430);北部湾环境演变与资源利用教育部重点实验室(南宁师范大学)开放基金(NNNU-KLOP-K1935)

Review on aerial path planning of UAV for 3D reconstruction

WU Changsong^1,2, PENG Yeping^1,2, CAO Guangzhong^1,2, YAN Yan³

1. College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China;
2. Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots, Shenzhen 518060, China;
3. Key Laboratory of Environment Change and Resources Use in Beibu Gulf, Nanning Normal University, Nanning 530001, China

Received:2021-10-13 Revised:2022-05-22 Published:2022-09-01

摘要/Abstract

摘要： 在对城市大场景的三维重建中,使用无人机在低空采集图像成为主流方案,通过优化无人机的航拍路径,能有效提高场景三维重建的精度和效率。为此,近年来致力于发展新的无人机航拍路径规划技术和方法,包括视点规划和飞行路径规划,取得了显著成果。本文通过概述无人机航拍路径规划的基本流程,详述基于二维模型、三维模型和未知环境下的航拍路径规划技术,对比不同路径规划方法的优缺点,探讨无人机航拍路径规划的发展趋势,为开展无人机航拍控制、大场景三维重建研究提供重要参考。

关键词: 无人机, 三维重建, 倾斜摄影, 航拍路径规划, 视点规划

Abstract: In the 3D reconstruction of urban scene, using UAV to collect images at low altitude has become the mainstream scheme. The UAV captures images at low altitude based on the optimal aerial path can improve the accuracy and efficiency of 3D reconstruction. Therefore, many researchers have investigated and developed the UAV aerial path planning methods in recent years. Accordingly, many viewpoint planning and flight path planning approaches have been reported. To summarize the principles of these new methods, this paper describes the working process of aerial path planning techniques, and details the modeling methods of aerial path planning based on the reconstructed 2D and 3D models of environments, as well as the unknown environment. Then the advantages and disadvantages of different path planning methods are analyzed, and the development trends are also discussed. This review can provide an important reference for the development of UAV control, aerial photography technology, and 3D reconstruction of large-scale scenes.

Key words: UAV, 3D reconstruction, oblique photography, aerial path planning, viewpoint planning

中图分类号:

P237

吴昌松, 彭业萍, 曹广忠, 闫妍. 面向三维重建的无人机航拍路径规划技术研究综述[J]. 测绘通报, 2022, 0(8): 98-103,122.

WU Changsong, PENG Yeping, CAO Guangzhong, YAN Yan. Review on aerial path planning of UAV for 3D reconstruction[J]. Bulletin of Surveying and Mapping, 2022, 0(8): 98-103,122.

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面向三维重建的无人机航拍路径规划技术研究综述

Review on aerial path planning of UAV for 3D reconstruction

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