Natural disaster area three-dimensional map construction method based on unmanned aerial vehicle

The invention relates to a natural disaster area three-dimensional map construction method based on an unmanned aerial vehicle, and belongs to the technical field of natural disaster emergency rescue. The unmanned aerial vehicle flies over the disaster area according to a predetermined track for aerial photography; estimating camera internal and external parameters and sparse point clouds by adopting an incremental motion recovery structure method; calculating a direct depth map based on a PatchMatch method and reconstructing a dense point cloud; and carrying out GPS information attachment on the dense point cloud to obtain the dense point cloud with GPS information. The method is used for generating a disaster area three-dimensional map with GPS information after a natural disaster occurs. According to the method, verification experiments are carried out on multiple groups of open source high altitude data, and it is proved that in the scene, the proposed method has the advantages of being high in robustness