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Proceedings Paper

Efficient structure from motion on large scenes using UAV with position and pose information
Author(s): Xichao Teng; Qifeng Yu; Yang Shang; Jing Luo; Gang Wang
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Paper Abstract

In this paper, we exploit prior information from global positioning systems and inertial measurement units to speed up the process of large scene reconstruction from images acquired by Unmanned Aerial Vehicles. We utilize weak pose information and intrinsic parameter to obtain the projection matrix for each view. As compared to unmanned aerial vehicles' flight altitude, topographic relief can usually be ignored, we assume that the scene is flat and use weak perspective camera to get projective transformations between two views. Furthermore, we propose an overlap criterion and select potentially matching view pairs between projective transformed views. A robust global structure from motion method is used for image based reconstruction. Our real world experiments show that the approach is accurate, scalable and computationally efficient. Moreover, projective transformations between views can also be used to eliminate false matching.

Paper Details

Date Published: 10 April 2018
PDF: 8 pages
Proc. SPIE 10615, Ninth International Conference on Graphic and Image Processing (ICGIP 2017), 106153F (10 April 2018); doi: 10.1117/12.2304782
Show Author Affiliations
Xichao Teng, National Univ. of Defense Technology (China)
Qifeng Yu, National Univ. of Defense Technology (China)
Yang Shang, National Univ. of Defense Technology (China)
Jing Luo, National Univ. of Defense Technology (China)
Gang Wang, National Univ. of Defense Technology (China)


Published in SPIE Proceedings Vol. 10615:
Ninth International Conference on Graphic and Image Processing (ICGIP 2017)
Hui Yu; Junyu Dong, Editor(s)

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