UAV path planning for 3D reconstruction of buildings under disaster scenarios
In recent years,three-dimensional(3D)reconstruction methods for complex disaster sce-narios have attracted more and more attention,as the reconstruction of disaster scenarios can help res-cuers 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-cam-era sweeping of the UAV,the point cloud information is generated after evaluation,and the 3D view-point 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.
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