摘要
为利用无人机高效地完成室内影像采集任务,本文论述了一种利用场景三维模型信息,辅助无人机进行室内路径规划和位姿估计,引导无人机完成室内摄影任务的方法。该方法主要包括三个主要步骤,即室内快速重建、基于实景三维的航线精细规划和室内无人机飞行控制。通过飞行实验验证了该方法的可行性,说明该方法可以辅助无人机的室内飞行,修正航线偏差,提高无人机室内影像采集的能力。
In order to efficiently complete the indoor image acquisition task by using UAV,this paper discussed a method to plan route and estimate pose for unmanned aerial vehicles(UAV)based on 3D model,which could help to the navigation of UAV indoor imageacquisition task.This method mainly includes 3 steps:indoor fast 3D model construct method,fine route planning method based on the 3D model,indoor UAV flight control method.Through the flight experiment,the feasibility of this method is verified.It shows that this method can assist the indoor flight of UAV,correct the deviation of flight path,and improve the ability of indoor image acquisition of UAV.
作者
胡敏捷
沈继飞
姚怡芝
Hu Minjie;Shen Jifei;Yao Yizhi(Shanghai Merchant Ship Design&Research Institute,Shanghai 201203,China)
出处
《城市勘测》
2021年第6期125-131,共7页
Urban Geotechnical Investigation & Surveying
基金
基于无人机平台的影像法大容量校准技术研究(JSJL2017206B001)。
关键词
航线规划
无人机
影像采集
位姿估计
route planning
UAV
image acquisition
pose estimation
