Topology-based UAV path planning for multi-view stereo 3D reconstruction of complex structures

This paper introduces a new UAV path planning method for creating high-quality 3D reconstruction models of large and complex structures. The core of the new method is incorporating the topology information of the surveyed 3D structure to decompose the multi-view stereo path planning into a collection of overlapped view optimization problems that can be processed in parallel. Different from the existing state-of-the-arts that recursively select the vantage camera views, the new method iteratively resamples all nearby cameras (i.e., positions/orientations) together and achieves a substantial reduction in computation cost while improving reconstruction quality. The new approach also provides a higher-level automation function that facilitates field implementations by eliminating the need for redundant camera initialization as in existing studies. Validations are provided by measuring the variance between the reconstructions to the ground truth models. Results from three synthetic case studies and one real-world application are presented to demonstrate the improved performance. The new method is expected to be instrumental in expanding the adoption of UAV-based multi-view stereo 3D reconstruction of large and complex structures.