灾难场景建筑三维重建的无人机航迹规划方法

UAV path planning for 3D reconstruction of buildings under disaster scenarios

利用无人机对灾难场景进行三维重建的应用技术,可以帮助救援人员快速了解灾难现场破坏程度、受灾人员位置分布,从而确定更好的救援方案。鉴于灾难场景状况复杂,为无人机提前规划飞行航线和拍摄视点,可实现快速对灾难区域的覆盖侦察与重建。在无人机面向灾难区域进行图像采集与三维重建的背景下,重点关注无人机在灾难场景下的航迹规划问题,通过无人机快速倾斜扫掠灾难区域以建立先验模型,并对先验模型表面进行采样和评估,进一步生成具有位置和方向约束的三维视点。为满足无人机和云台相机的动力学约束,将多视点连接与航迹规划作为优化问题进行求解,同时考虑了路径的平滑性与视点的可达性以产生规划航迹。与环形航线和之字形航线的规划方法相比,本文方法可以更为快速地实现无人机三维航迹规划并建立受灾区域的三维模型。

In recent years,three-dimensional(3D)reconstruction methods for complex disaster scenarios have attracted more and more attention,as the reconstruction of disaster scenarios can help rescuers rapidly cognize the extent of damage,locate victims,and plan the consequent tasks.To achieve rapid coverage and reconstruction of the chaotic disaster area,it is essential to plan optimized flying routes for UAVs.Based on the image acquisition and 3D reconstruction of the disaster area,this study focuses on the problem of path planning of UAVs.By establishing an a priori model via rapid air-camera sweeping of the UAV,the point cloud information is generated after evaluation,and the 3D viewpoint with position and direction constraints is generated.To meet the dynamic constraints of the UAV itself and the rotation constraints of the PTZ camera,the continuity of the path and the quality of the views are considered.Compared with Zig-Zag and circular paths,this study constructs a quick path planning method for 3D reconstruction of the disaster area.