Real-time three-dimensional scene reconstruction method for UAV based on EG-SLAM

Abstract

The present invention provides a real-time three-dimensional scene reconstruction method for a UAV (unmanned aerial vehicle) based on the EG-SLAM. The method is characterized in that: visual information is acquired by using an unmanned aerial camera to reconstruct a large-scale three-dimensional scene with texture details. Compared with multiple existing methods, by using the method provided by the present invention, images are collected to directly run on the CPU, and positioning and reconstructing a three-dimensional map can be quickly implemented in real time; rather than using the conventional PNP method to solve the pose of the UAV, the EG-SLAM method of the present invention is used to solve the pose of the UAV, namely, the feature point matching relationship between two frames is used to directly solve the pose, so that the requirement for the repetition rate of the collected images is reduced; and in addition, the large amount of obtained environmental information can make theUAV to have a more sophisticated and meticulous perception of the environment structure, texture rendering is performed on the large-scale three-dimensional point cloud map generated in real time, reconstruction of a large-scale three-dimensional map is realized, and a more intuitive and realistic three-dimensional scene is obtained.

Description

technical field [0001] The present invention relates to the fields of unmanned aerial vehicle autonomous flight, computer vision, and map construction. Specifically, it uses real-time synchronous positioning and map construction (EG-SLAM) to perform dense diffusion and texture rendering on the obtained 3D point cloud to realize the realization of unmanned aerial vehicles. 3D scene reconstruction of ground objects. Background technique [0002] Real-time simultaneous positioning and reconstruction of 3D scenes by UAVs has always been a hotspot and difficulty in the field of UAV autonomous flight and computer vision. UAVs have many advantages, such as: small size, low cost, good stealth, flexibility and convenience, and strong combat capability. In recent years, they have been widely used in many fields of military and civilian. In terms of military affairs, drones can be used for military tasks such as reconnaissance, attack, and electronic countermeasures. They can also be ...

AI Technical Summary

Problems solved by technology

[0006] 2) The redundancy of the initial image information obtained by the camera is extremely high, resulting in a waste of transmission bandwidth and computing resources

[0007] 3) At present, most of the large-scale maps generated by drones in real time using computer vision technology are 3D point clouds that only have geometric structures and do not contain texture information.

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