GPS-supported 3D reconstruction of UAV images based on robust Lie-algebraic rotation averaging

Jin-peng LI; Ting JIANG; Zhi-hui GONG; Gang-wu JIANG

doi:10.3788/OPE.20172506.1607

您当前的位置：

首页 >

文章列表页 >

GPS-supported 3D reconstruction of UAV images based on robust Lie-algebraic rotation averaging

Information Sciences | 更新时间：2020-07-07

- GPS-supported 3D reconstruction of UAV images based on robust Lie-algebraic rotation averaging
- Optics and Precision Engineering Vol. 25, Issue 6, Pages: 1607-1618(2017)
- 作者机构：
  
  信息工程大学, 河南郑州 450001
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20172506.1607
  CLC： TP242.6
- Received：19 December 2016，
  
  Accepted：09 February 2017，
  
  Published：25 June 2017
- 稿件说明：
移动端阅览
Jin-peng LI, Ting JIANG, Zhi-hui GONG, et al. GPS-supported 3D reconstruction of UAV images based on robust Lie-algebraic rotation averaging[J]. Optics and precision engineering, 2017, 25(6): 1607-1618.
DOI：

Jin-peng LI, Ting JIANG, Zhi-hui GONG, et al. GPS-supported 3D reconstruction of UAV images based on robust Lie-algebraic rotation averaging[J]. Optics and precision engineering, 2017, 25(6): 1607-1618. DOI： 10.3788/OPE.20172506.1607.

摘要

针对最小二乘的旋转平均方法对粗差敏感，求解影像旋转参数不够精确的问题，提出了一种稳健的旋转平均方法。先利用李群和李代数之间的映射关系，将旋转矩阵的乘积运算简化为李代数中的减法运算，推导出旋转平均迭代解算的线性化方程；然后利用L1范数优化和迭代加权最小二乘相结合的方法求解全局一致旋转最优解；最后采用迭代策略剔除粗差，得到精确的旋转矩阵。实验结果表明，与传统最小二乘方法相比，提出方法的旋转参数求解精度更高，稳健性更好，用于三维重建可以得到更密集均匀的点云，重建完整性更好。旋转平均的精度优于0.15度，计算时间不超过0.31s，光束法平差后，重投影误差在1.3个像素以内。基本满足快速稳健三维重建的要求。

Abstract

As the sensitivity of the rotation averaging method for the Least Squares to the gross error would lead to inaccurate solution of image rotation parameters

a robust rotation averaging method was proposed. Taking advantages of the mapping relations between the Lie group and Lie algebra

the linear equation of rotation averaging iteration resolving was deduced by simplifying the product operation of rotation matrix to subtraction operation in Lie algebra; then the globally uniform rotation optimum solution was solved by combining L1 norm optimization with the iteratively reweighted least squares; and the iterative strategy was used to eliminate the gross error for obtaining accurate rotation matrix. The method was applicable to low-precison GPS supported three-dimensional reconstruction of Unmanned Aerial Vehicle(UAV) images.The result of the experiment shows that compared with traditional least square method

the proposed method exhihits an higher solution accuracy of rotation parameters and better robustness

which can be applied to three-dimensional reconstruction for obtaining more intensive and homogeneous point cloud with better integrity. The accuracy of rotation averaging overmatches 0.15° with the computing time no more than 0.31 s

and after bundle adjustment

the re-projection error is within 1.3 pixels

which meet the requirement of fast and robust three-dimensional reconstruction.

关键词

Keywords

references

李德仁, 李明.无人机遥感系统的研究进展与应用前景[J].武汉大学学报·信息科学版, 2014, 39(5): 505-513.

LI D R, LI M. Research Advance and Application Prospect of Unmanned Aerial Vehicle Remote Sensing System [J]. Geomatics and Information Science of Wuhan University, 2014, 39(5): 505-513. (in Chinese)

冯宏伟, 周亚培, 冯筠, 等.面向多视角视图三维重建的基础矩阵求解[J].光学精密工程, 2016, 24(10s): 567-574.

FENG F W, ZHOU Y P, FENG J, et al.. Fundamental matrix estimation for 3D reconstruction towards multi-perspective views [J]. Opt. Precision Eng., 2016, 24(10s):567-574. (in Chinese)

赵春宇, 孙伟, 陈许蒙.微惯性传感器加速的序列图像三维重建方法[J].光学精密工程, 2016, 24(10s): 559-566.

ZHAO C Y, SUN W, CHEN X M. Accelerated 3D reconstruction method from image sequence based on inertial measurement unit[J]. Opt. Precision Eng., 2016, 24(10s):559-566. (in Chinese)

丁夏清, 杜卓洋, 陆逸卿, 等.基于混合势场的移动机器人视觉轨迹规划[J].浙江大学学报(工学版), 2016, 50(7): 1298-1306.

DING X Q, DU Z Y, LU Y Q, et al.. Visual trajectory planning for mobile robots based on hybrid artificial potential field[J]. Journal of Zhejiang University (Engineering Science), 2016, 50(7): 1298-1306. (in Chinese)

王欣, 袁坤, 于晓, 等.基于运动恢复的双目视觉三维重建系统设计[J].光学精密工程, 2014, 22(5): 1379-1387.

WANG X, YUAN K, YU X, et al.. Design of binocular vision 3D reconstruction system based on motion recovery [J]. Opt. Precision Eng., 2014, 22(5):1379-1387. (in Chinese)

许志华, 吴立新, 刘军, 等.顾及影像拓扑的SfM算法改进及其在灾场三维重建中的应用[J].武汉大学学报·信息科学版, 2015, 40(5): 599-606.

XU Z H, WU L X, LIU J, et al.. Modification of SfM Algorithm Referring to Image Topology and Its Application in 3-Dimension Reconstruction of Disaster Area [J]. Geomatics and Information Science of Wuhan University, 2015, 40(5): 599-606. (in Chinese)

IRSCHARA A, HOPPE C, BISCHOF H, et al.. Efficient Structure from Motion with Weak Position and Orientation Priors[C]. Proceedings of 2011 IEEE Conference on Computer Vision and Pattern Recognition Workshops(CVPRW), Colorado Springs, CO, USA: IEEE, 2011: 21-28.

曹雪峰, 王庆贺, 谢理想.融合低精度GPS/IMU参数的无人机影像批处理三维重建方法[J].系统仿真学报, 2015, 27(10): 2409-2421.

CAO X F, WANG Q H, XIE L X. Batched 3D Reconstruction of UAV Images Fused Low Precision and Orientation Parameters [J]. Journal of System Simulation, 2015, 27(10): 2409-2421. (in Chinese)

GOVINDU V M. Combining two-view constraints for motion estimation[C]. Proceedings of 2001 IEEE Conference on Computer Vision and Pattern Recognition(CVPR), Kauai, HI, USA: IEEE, 2001: 218-225.

MARTINEC D, PAJDLA T. Robust rotation and translation estimation in multiview reconstruction[C]. Proceedings of 2007 IEEE Conference on Computer Vision and Pattern Recognition(CVPR), Minneapolis, Minnesota, USA: IEEE, 2007: 1-8.

ARIE-NACHIMSON M, KOVALSKY S Z, KEMELMACHER-SHLIZERMAN I, et al. Global motion estimation from point matches[C]. 2rd International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission, Zurich, Switzerland: 3DIMPVT, 2012: 81-88.

OZYESIL O, SINGER A, BASRI R. Stable camera motion estimation using convex programming[J]. SIAM Journal on Imaging Science, 2015, 8(2):1220-1262.

BRIAN C H. Lie Groups, Lie Algebras and Representations[M]. New York: Springer-Verlag Press, 2007.

蔡明兵, 王超, 刘晶红, 等.基于多台北斗接收机的测姿精度对目标定位精度影响分析[J].液晶与显示, 2016, 31(9): 902-912.

CAI M B, WANG C, LIU J H, et al.. Impact analysis of attitude determination accuracy to target localization accuracy on Multi-BD receivers [J]. Chinese Journal of Liquid Crystals and Displays, 2016, 31(9): 902-912. (in Chinese)

王永新, 吕游.火力压制试验弹丸落点脱靶量测试方法研究[J].液晶与显示, 2017, 32(1): 48-55.

WANG Y X, LV Y. Method of miss distance measurement for projectiles in the suppression[J]. Chinese Journal of Liquid Crystals and Displays, 2017, 32(1): 48-55. (in Chinese)

杨元喜.抗差估计理论及其应用[M].北京:八一出版社, 1993.

YANG Y X. Robust estimation theory and its applications[M]. Beijing: Bayi Press, 1993. (in Chinese)

HARTLEY R, AFTAB K, TRUMPF J. L1 rotation averaging using the weiszfeld algorithm[C]. Proceedings of 2011 IEEE Conference on Computer Vision and Pattern Recognition(CVPR), Colorado Springs, CO, USA: IEEE, 2011: 3041-3048.

李德仁, 袁修孝.误差处理与可靠性理论[M].武汉:武汉大学出版社, 2012.

LI D R, YUAN X X. Error processing and reliability theory[M]. Wuhan: Wuhan University Press, 2012. (in Chinese)

ZHANG T, LERMAN G. A novel M-Estimator for robust PCA[J]. Journal of Machine Learning Research, 2014, 15:193-251.

卢俊, 张保明, 郭海涛, 等.利用三视匹配元的多视影像批处理重建[J].武汉大学学报·信息科学版, 2017, 42(1): 109-115.

LU J, ZHANG B M, GUO H T, et al.. A Batch Reconstruction Algorithm of Multi-view Images Using Image Triplets [J]. Geomatics and Information Science of Wuhan University, 2017, 42(1): 109-115. (in Chinese)

Views

152

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰