电子学报2017，Vol.45Issue(6)：1294-1300,7.DOI:10.3969/j.issn.0372-2112.2017.06.003
基于即时稠密三维重构的无人机视觉定位
Instant Dense 3D Reconstruction-Based UAV Vision Localization
摘要
Abstract
The corresponding matched images are hard to obtain by the convetional scene matching localization method applied in UAV (Unmanned Aerial Vehicle) at a low altitude because of the small viewing coverage and the big capturing angle difference comparing with the satellite images.We propose a localization method based on instant dense 3D reconstruction.Firstly,we use a fast SLAM (Simultaneous Localization And Mapping) method to retrieve camera poses of image sequence captured by UAV.Secondly,cooperative denoising and optimization algorithm across multiple key frames is applied to obtain dense depth map and dense point cloud.Thirdly,a virtual view,the angle of which is similar to that of satellite,is generated by iterative optimizing method.Finally,we estimate the position of UAV by correspondence between the satellite map and the previous generated virtual view.Since the dense 3D point cloud integrates the information of multiple aerial images with small field of view and the viewing angles of some generated virtual views are close to those of satellite images,the proposed method provides a higher success rate and accuracy for localization.Experimental results illustrate the effectiveness and applicability of the proposed framework.关键词
无人机视觉定位/三维重建/即时构图及定位Key words
UAV vision localization/3D reconstruction/SLAM分类
信息技术与安全科学引用本文复制引用
陈宝华,邓磊,陈志祥,段岳圻,周杰..基于即时稠密三维重构的无人机视觉定位[J].电子学报,2017,45(6):1294-1300,7.基金项目
国家自然科学基金(No.61225008,No.61373074,No.61020106004) （No.61225008,No.61373074,No.61020106004）
