Acta Geodaetica et Cartographica Sinica ›› 2019, Vol. 48 ›› Issue (6): 688-697.doi: 10.11947/j.AGCS.2019.20180063

• Photogrammetry and Remote Sensing • Previous Articles     Next Articles

Single and multiple rotation averaging iterative optimization coupled 3D reconstruction for low-altitude images using SfM algorithm

HE Haiqing1,2, CHEN Min3, CHEN Ting4, LI Dajun1,2, CHEN Xiaoyong1,2   

  1. 1. School of Geomatics, East China University of Technology, Nanchang 330013, China;
    2. Key Laboratory of Watershed Ecology and Geographical Environment Monitoring, Nanchang 330013, China;
    3. Faculty of Geosciences and Environmental Engineering, Southwest Jiaotong University, Chengdu 611756, China;
    4. School of Water Resources & Environmental Engineering, East China University of Technology, Nanchang 330013, China
  • Received:2018-02-12 Revised:2018-09-25 Online:2019-06-20 Published:2019-07-09
  • Supported by:
    The National Natural Science Foundation of China (Nos. 41861062;41401526;41501492);The Jiangxi Natural Science Foundation of China (Nos. 20171BAB213025;20181BAB203022);The Higher School Science and Technology Landing Project of Jiangxi Province (No. KJLD14049)

Abstract: To reduce the cumulative errors caused by initial stereo model construction and related images augmentation in the existing structure from motion based methods, a single & multiple rotation averaging iterative optimization coupled 3D reconstruction method for low-altitude images is proposed. Firstly, an initial undirected graph of correlated images is established based on images relative orientation. Strongly correlated images are found in terms of the optimal incremental decision function, which is constructed based on multiple factors. Secondly, single rotation averaging considering gross erroris used to expand images directed graph in local reference framework, the global uniform optimal solution of rotation and translation matrices can be computed by quaternion supported multiple rotation averaging without involving 3D points. Finally, bundle adjustment is used to refine 3D points, rotation and translation matrices.The experimental results show that the proposed method can achieve more accurate exterior orientation elements and recover more 3D object points, and significantly improve the efficiency of the incremental structure from motion.

Key words: incremental structure from motion, rotation averaging, incremental decision function, quaternion, exterior orientation elements

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