An Object-Oriented Uav 3d Path Planning Method Applied in Cultural Heritage Documentation

Abstract

Abstract. Since image-based 3D model reconstruction can faithfully recover the real texture of cultural heritage with high accuracy, it is widely used in cultural heritage documentation. Given the complexity of manual image acquisition at present, we propose an object-oriented unmanned aerial vehicle (UAV) path planning method to obtain close-up and high-resolution images for the 3D reconstruction of cultural heritage. Four basic geometric classes are defined and can be automatically divided or interactively defined on the surface of an initial coarse model. We propose the concept of aerial strip unit in conventional photogrammetry to generate multiple regular strip units for photography. The optimal flight path connecting each unit is generated considering the obstacle avoidance and the shortest distance. Based on the self-developed 3D engine, we take the Ancient City of Ping Yao and Yellow Crane Tower in China as two cases to design the UAV 3D path planning. Experimental results show that, compared with general planning methods, our method can improve the flight efficiency of UAV and the visual fineness of the reconstruction results.

Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene Reconstruction

“…In the context of unknown scenarios lacking prior information, path planning for scene reconstructions often relies on widely adopted strategies such as the Next-Best-View (NBV) strategy [15][16][17][18][19][20] and the "explore-and-exploit" strategy [7][8][9][10][11][12][13].…”

“…The "explore-and-exploit" strategy has gained widespread adoption as a means to decrease dependence on high-cost hardware devices [7][8][9][10][11][12][13]21,22]. To guide the optimization of the trajectory, [9][10][11] developed mathematical models that approximated the actual reconstruction properties.…”

“…Nevertheless, these paths typically capture scene images uniformly at a fixed height and viewing angle, resulting in challenges when capturing the detailed elevation information of buildings. Consequently, certain studies [7][8][9][10][11][12][13] have employed a two-stage "explore-and-exploit" approach. Initially, during the "explore" phase, images are rapidly captured using an overhead grid path, leading to the reconstruction of a coarse scene model known as a proxy.…”

“…Most existing methods [7][8][9][10][11][12][13] follow a framework where the optimal set of viewpoints is initially determined during the "explore" phase. And paths are generated by solving the traveling salesman problem (TSP).…”

A 3D urban scene reconstruction enhancement approach based on adaptive viewpoint selection of panoramic videos

“…With advancements in hardware and software technology, UAVs now offer greater flexibility in capturing finer information through their ability to approach building façades, soil slopes and other objects. Nevertheless, nap-of-the-object photogrammetry (Liu et al, 2022;Qin & Duan, 2023) puts forward high requirements for manipulators to ensure safe flight because of parallax and Global Navigation Satellite System (GNSS) signal blocking factors. Moreover, the limited endurance time of electric-driven UAVs often results in restrictions on the amount validate the proposed method, we conducted experiments using real data from Qingdao, China.…”