Photography Constraint Aided Keyframe Selection and Matching Method for UAV 3D Reconstruction

The use of visual methods to explore the terrain in the wild has drawn more and more attention. Structure from motion techniques have been extensively employed to 3D topographic reconstruction from videos. Conventional 3D reconstruction of the large scene area requires the aircraft to carry the camera to photograph, but need a lot of time. As a result, it needs to plan the keyframes and matching. In this paper, a keyframe matching topological graph selection strategy is proposed for effective 3D reconstruction. First, plan the scene traversal photographic mode by Terrain elevation information. A photography constraint method, which conforms to the orthographic and equidistant projection, is proposed. After that, the selection of the key frame is performed using the planning information and the DEM information. Finally, establish the matching relationships between the frames. We verify the efficacy of our method on a mountain terrain, and demonstrate that our method is able to greatly reduce the reconstruction time and improve the reconstruction accuracy.