Article
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Preserved in Portico This version is not peer-reviewed
Towards Real-time 3D Terrain Reconstruction from Aerial Imagery
Version 1
: Received: 20 August 2023 / Approved: 21 August 2023 / Online: 21 August 2023 (05:31:35 CEST)
A peer-reviewed article of this Preprint also exists.
Wang, Q. Towards Real-Time 3D Terrain Reconstruction from Aerial Imagery. Geographies 2024, 4, 66-82. Wang, Q. Towards Real-Time 3D Terrain Reconstruction from Aerial Imagery. Geographies 2024, 4, 66-82.
Abstract
We present a near real-time solution for 3D reconstruction from aerial images captured by consumer UAVs. Our core idea is to simplify the multi-view stereo problem into a series of two-view stereo matching problems. Our method applies to UAVs equipped with only one camera and does not require special stereo-capturing setups. We found that the neighboring two video frames taken by UAVs flying at a mid-to-high cruising altitude can be approximated as left and right views from a virtual stereo camera. Leveraging GPU-accelerated real-time stereo estimation, efficient PnP correspondence solving algorithms and extended Kalman filter, our system simultaneously predicts scene geometry and camera position/orientation from the virtual stereo cameras. Also, this method allows user selection of varying baseline lengths, which provides more flexibility given the trade-off between camera resolution, effective measuring distance, flight altitude, and mapping accuracy. Our method outputs dense point clouds at a constant speed of 25 frames per second and is validated on a variety of real-world datasets with satisfactory results.
Keywords
3D Reconstruction; Unmanned Aerial Vehicles; Real-time Systems
Subject
Computer Science and Mathematics, Computer Vision and Graphics
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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