利用多軸無人飛行載具製作大比例尺地形圖之研究

The Study of Using Multi-Rotor UAV To Produce Large-Scale Topographic Map

10.6574/JPRS.201812_23(4).0005

林迪詒(Di-Yi Lin)；謝嘉聲(Chia-Sheng Hsieh)

多軸無人飛行載具 ； 大比例尺地形圖 ； 運動中回復結構 ； 區塊為基礎之多視立體 ； Multi-rotor UAV ； Large-scale topographic maps ； SFM ； PMVS

航測及遙測學刊

23卷4期（2018 / 12 / 01）

285 - 293

繁體中文

隨著科技進步，多軸無人飛行載具(Multi-Rotor Unmanned Aerial Vehicle, MUAV)發展漸趨成熟，目前已應用在許多領域上（如農業、能源、新聞媒體等），其中在航空攝影測量的應用已有許多成功的案例發表。但因其載體小且搭載消費型相機，因此在執行航拍的過程中易受環境影響，造成航線傾斜、偏移、航高不一致之現象，且因飛行高度低，造成拍攝影像圖幅小、數量多及鏡頭畸變差不穩定等問題。為解決上述問題，本研究透過計算機視覺方法的從運動中回復結構(Structure from Motion, SFM)和密匹配演算法中以區塊為基礎之多視立體(Patch-based Multi-view Stereo, PMVS)方法進行影像處理，可快速從序列影像中，計算影像的內外方位參數並產製稠密點雲。本研究利用MUAV拍攝1 cm地面解析度之影像，並根據解析度需求進行航線規劃及影像處理。研究區為高雄市鳳山舊無線電信所，區域內有房屋、道路等建物，屬於平坦地形，最高建物高度為9 m，最後並以地形圖檢核的程序進行檢核，驗證應用無人飛行載具搭配消費型相機進行航空攝影測量亦可提供高精度的地形圖。

Accompanied by the advancement of technology, multi-rotors unmanned aerial vehicle (MUAV) becomes mature gradually, and is applied to agriculture, energy, and media. There are many publications in the application of aerial photogrammetry field. However, the small and light platform with consumer camera is easily influenced by environmental factors during the process of aerial photogrammetry so to cause the inconsistent of flight height, tilt, and offset. Also, the low flight height results in narrow frame, lens distortion, and a large number of photos. In order to solve the problems, the research uses Structure from Motion (SFM), and dense matching by Patch-based Multi-view stereo (PMVS) to process the images. This process can calculate the interior and exterior orientation of image, and produce the dense point cloud. In this study, we obtained MUAV imagery with 1 cm resolution, and executes the flight planning and image processing according to the resolution requirements. The study area is the old wireless telecommunications station of Fengshan, Kaohsiung City. There are houses, roads and other buildings in the area, which belong to flat terrain, and the highest building is 9 meters. Finally, by examining the results by the standard of topographic map, the study proves that proceeding aerial photogrammetry with UAV and consumer camera can provide high-accuracy topographic maps.

1. Eisenbeiss, H.,Zhang, L.(2006).Comparison of DSMs generated from mini UAV imagery and terrestrial laser scanner in a cultural heritage application.The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,35(5),90-96.
2. Everaerts, J.,Lewyckyj, N.(2011).Obtaining a permit to fly for a HALE UAV in Belgium.ISPRS-International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,XXXVIII–1/C22,1-5.
3. Everaerts, J.,Lewyckyj, N.,Fransaer, D.(2004).PEGASUS: Design of a stratospheric long endurance UAV system for reomte sensing.The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,35(Part B)
4. Furukawa, Y.,Curless, B.,Seitz, S. M.,Szeliski, R.(2010).Towards internet-scale multi-view stere.Computer Vision and Pattern Recognition, 2010 IEEE Conference,USA:
5. Haala, N.,Cramer, M.,Rothermel, M.(2013).Quality of 3D point clouds from highly overlapping UAV imagery.International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,XL-1/W2,183-188.
6. Haarbrink, R. B.,Eisenbeiss, H.(2008).Accurate DSM production from unmanned helicopter systems.The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,37(B1),1259-1264.
7. Harwin, S.,Lucieer, A.(2012).Assessing the accuracy of georeferenced point clouds produced via multi-view stereopsis from unmanned aerial vehicle (UAV) imagery.Remote Sensing and Spatial Information Sciences,4(6),1573-1599.
8. Ollero, A.,Merino, L.(2006).Unmanned aerial vehicles as tools for forest-fire fighting.Forest Ecology and Management,234(1),263-274.
9. Rosnell, T.,Honkavaara, E.(2012).Point cloud generation from aerial image data acquired by a quadocopter type micro unmanned aerial vehicle and a digital still camera.Sensors,12(1),453-480.
10. Seitz, S. M.,Curless, B.,Diebel, J.,Scharstein, D.,Szeliski, R.(2006).A comparison and evaluation of multi-view stereo reconstruction algorithms.2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition,USA:
11. Tsingas, V.(1992).Universität Stuttgart.
12. 內政部國土測繪中心, Ministry of the Interior, R.O.C. Taiwan(2011).建置都會區一千分之一數值航測地形圖作業工作手冊.
13. 李怡蓁, Y.C.(2014)。Taiwan, ROC，國立高雄應用科技大學=National Kaohsiung University of Applied Sciences。
14. 林迪詒, D.Y.(2015)。Taiwan, ROC，國立高雄應用科技大學=National Kaohsiung University of Applied Sciences。
15. 翁婕晞, C.H.(2013)。Taiwan, ROC，國立臺北大學=National Taipei University。
16. 蔡依庭, Y.T.(2012)。Taiwan, ROC，國立臺北大學=National Taipei University。