Three Dimensional Reconstruction Algorithm of Unmanned Aerial Vehicle Images Based on Parallel Processing

Huaiyuan Chen; Jianwu Dang; Biao Yue; Jingyu Yang

doi:10.3788/LOP231339

Laser & Optoelectronics Progress, Volume. 61, Issue 8, 0811002(2024)

Three Dimensional Reconstruction Algorithm of Unmanned Aerial Vehicle Images Based on Parallel Processing

Huaiyuan Chen^1,2, Jianwu Dang^1,2、*, Biao Yue^2,3, and Jingyu Yang³

¹key Laboratory of Optoelectronic Technology and Intelligent Control, Ministry of Education, Lanzhou Jiaotong University, Lanzhou 730070, Gansu , China

²National Virtual Simulation Experimental Teaching Center of Rail Transit Information and Control, Lanzhou 730070, Gansu , China

³School of Electronic and Information Engineering, Lanzhou Jiaotong University, Lanzhou 730070, Gansu , China

show less

Abstract Get PDF(in Chinese)

Figures & Tables(14)

Fig. 1. The incremental SFM reconstruction process

Download full size

Fig. 2. Diagram of the reprojection error

Download full size

Fig. 3. Flow of the parallel incremental SFM reconstruction algorithm

Download full size

Fig. 4. The retrieval results of the query image based on the vocabulary tree

Download full size

Fig. 5. Normalized cut result

Download full size

Fig. 6. Subset expansion

Download full size

Fig. 7. Subset merging process

Download full size

Fig. 8. Experimental datasets. (a) Dataset1; (b) NPU_phantom3; (c) NPU_Central

Download full size

Fig. 9. Reconstructed visualization results. (a) ColMap; (b) Metashape; (c) VisualSFM; (d) proposed method

Download full size

Fig. 10. Reconstruction results with or without GPS assistance. (a) Without GPS; (b) with GPS

Download full size

Fig. 11. Trajectory alignment results. (a) Without GPS; (b) with GPS

Download full size

Table 1. Performance comparison of the four algorithms

View table

Table 1. Performance comparison of the four algorithms

Dataset	Method	$N_{p o i n t}$	L	MMSE /pixel
Dataset1	ColMap	104810	4.209	0.583
	VisualSFM	67152	4.217	0.619
	Metashape	183697	4.799	0.461
	Proposed method	138759	4.481	0.337
NPU_phantom3	ColMap	427735	9.441	0.602
	VisualSFM	336042	8.316	0.741
	Metashape	598442	9.542	0.539
	Proposed method	461943	8.138	0.391
NPU_Central	ColMap	762733	24.161	0.539
	VisualSFM	601922	21.014	0.822
	Metashape	1031644	24.050	0.692
	Proposed method	870532	23.150	0.410

Table 2. BA optimization runtime
View table
Table 2. BA optimization runtime
Method Dataset1 NPU_phantom3 NPU_Central
ColMap 23.062 89.401 493.849
VisualSFM 6.334 21.662 137.961
Metashape 34.183 63.854 211.402
Proposed method 8.327 18.392 100.631

Table 3. Feature matching run time
View table
Table 3. Feature matching run time
Method $T_{w}$ $T_{v o c}$
Dataset1 10.052 6.547
NPU_phantom3 49.819 17.799
NPU_Central 263.951 56.872

Tools

Get Citation

Copy Citation Text

Huaiyuan Chen, Jianwu Dang, Biao Yue, Jingyu Yang. Three Dimensional Reconstruction Algorithm of Unmanned Aerial Vehicle Images Based on Parallel Processing[J]. Laser & Optoelectronics Progress, 2024, 61(8): 0811002

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites