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首页> 外文会议>International conference on graphic and image processing >Efficient Structure from Motion on Large Scenes using UAV with Position and Pose Information
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Efficient Structure from Motion on Large Scenes using UAV with Position and Pose Information

机译：使用具有位置和姿势信息的无人机在大型场景上进行有效的运动结构

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In this paper, we exploit prior information from global positioning systems and inertial measurement units to speed up the process of large scene reconstruction from images acquired by Unmanned Aerial Vehicles. We utilize weak pose information and intrinsic parameter to obtain the projection matrix for each view. As compared to unmanned aerial vehicles' flight altitude, topographic relief can usually be ignored, we assume that the scene is flat and use weak perspective camera to get projective transformations between two views. Furthermore, we propose an overlap criterion and select potentially matching view pairs between projective transformed views. A robust global structure from motion method is used for image based reconstruction. Our real world experiments show that the approach is accurate, scalable and computationally efficient. Moreover, projective transformations between views can also be used to eliminate false matching.
机译：在本文中，我们利用来自全球定位系统和惯性测量单元的先验信息来加快从无人飞行器获取的图像进行大场景重建的过程。我们利用弱姿态信息和固有参数来获得每个视图的投影矩阵。与无人飞行器的飞行高度相比，地形起伏通常可以忽略，我们假设场景是平坦的，并使用弱透视相机获取两个视图之间的投影变换。此外，我们提出了一个重叠准则，并在投影变换视图之间选择了可能匹配的视图对。来自运动方法的鲁棒全局结构用于基于图像的重建。我们在现实世界中的实验表明，该方法准确，可扩展且计算效率高。此外，视图之间的投影变换也可以用于消除错误匹配。

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