中文摘要：

提出并实现了一种基于无人机的大场景序列图像自动采集和三维重建方法,实现了大范围场景全自动图像数据采集和三维建模。首先设计实现无人机自动控制地面站和基于Cortex-A17的无人机控制模块,其次在地面站人工点选设计航线和拍摄位置,并自动控制飞行和拍摄过程,实时将序列图像回传地面站,最后地面站应用SFM方法实时自动重建大场景三维模型。实验结果表明,相对于人工控制方法,文中方法能够实现无人机飞行和拍摄过程自动控制,同时提高拍摄稳定性,降低基于无人机的大场景三维建模难度,提高建模效果。

英文摘要：

A sequence images automatic capturing and 3D modeling method for large scale scene based on unmanned aerial vehicle（UAV） is proposed,which implements automatic image data acquisition and 3D modeling of large scale scene. Firstly,the UAV base station and the Cortex-A17-based UAV control module are designed. Secondly,designing fly route and capturing position by manually clicked at the base station,and the flight and capturing process are controlled automatically. Meanwhile the sequence image is sent back to the base station in real time. At last the SFM method is applied to reconstruct the 3D model of the large scale scene automatically. The experimental results show that compared with manually control method,the method which is proposed in this paper realize automatic control of the UAV flight and capturing process,greatly improve the stability of capturing and reduce the difficulty of 3D modeling using UAV and the modeling effect.