Aerial Photography Path Planning And Camera Pose-attitude Control For 3D Reconstruction

3D reconstruction for objects has been widely used in Reverse engineering,virtual-reality and manufacture quality inspection,and it's a hot issue use a single camera to obtain sequence image for 3D reconstruction.Specially,the planning of view and path plays an important role on integrity and precision of reconstruction,it's a key-tech.Aiming at Multi-View stereo 3D reconstruction using an autonomous multi-copter and a single camera,a special focus is set on the problem of path planning and camera control.Primary research works can be summarized as follows:(1)Aiming at viewing angle and flying path planning during aerial photography,view setting and flying path planning is focused.A model-based approach is raised for view setting,first,disperse space depend on camera parameter and available working distance to obtain an intensive candidate region,then,model based view selection process considering optical constrain,coverage,a maximum view angle,resolution ratio,an overlapping constrain and structure of UAV(Unmanned Aerial Vehicle),beyond that,raised an view replenish scheme under lack of coverage situation.An ACO algorithm for the shortest flight path is used during path planning.(2)Research on the influence of viewing angle to reconstruction precision,guidance for view selection is given.First,analyzed the principle between reconstruction precision and image error,then,by a series of viewing angle experiment to calibration board through cross ratio theory obtained general math model.(3)UAV and camera posture controller has been designed based on ground station and communication link chain.Way pointes messages are read and sent by ground station to flight controller and holder controller,and feedback information has been compared with task way point,camera will be trigged while reach correct position.(4)Exploitation of path planning platform and ground station controller platform for 3D reconstruction using an UAV.Path planning platform including candidate region setting,view selection,path planning and way points generate functions,it also can be used for planning result simulation.A posture control system is also be developed,including ground station,posture control platform,for UAV and its camera posture auto control aim at picture grab.