Yuav ua li cas tswj cov ntsiab lus thiab PPK cov ntaub ntawv cuam tshuam qhov txheeb ze qhov tseeb ntawm 3D qauv

Hauv ob qhov kev sim no, peb tau qhia plaub qhov sib txawv los txheeb xyuas qhov tseeb ntawm tus qauv 3D. Plaub qhov sib txawv yog:

1: Carrier drone hom: VTOL drone lossis multi-rotor drone

2: txawv GSD

3: Nrog / Tsis muaj cov ntsiab lus tswj hauv av

4: Nrog / Tsis muaj PPK cov ntaub ntawv

Kev sim 1: cov txiaj ntsig ntawm cov ntsiab lus tswj hauv av (GCPs) ntawm qhov txheeb ze qhov tseeb ntawm tus qauv 3D;

Qhov xwm txheej 1

Carrier drone	Oblique koob yees duab	GSD	PPK
CW 10 VTOL	DG4 pros	2cm ua	Yog lawm

Table 1:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) tsis muaj GCP	3D qauv ntev (L2) nrog GCP	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210 ib	7.20 Nws	7.21 ib	0.01 ib	0.00 Nws
	8.706 ib	8.71 ib	8.68 ib	0.00 Nws	0.03 ib
	10.961 ib	10.87 Nws	10.90 Nws	0.09 ib	0.06 ib
2	7.010 ib	6.89 ib	6.98 ib	0.12	0.03 ib
3	1.822 ib	1.79 ib	1.80 ib	0.03 ib	0.02 ib
4	10.410 Nws	10.39 Nws	10.40 Nws	0.02 ib	0.01 ib
5	10.718 Nws	10.67 Nws	10.70 Nws	0.05 Nws	0.02 ib
6	13.787 Nws	13.75 Nws	13.77 Nws	0.04 ib	0.02 ib
7	11.404 Nws	11.39 Nws	11.39 Nws	0.01 ib	0.01 ib
	12.147 Nws	12.13 Nws	12.13 Nws	0.02 ib	0.02 ib
8	7.526 ib	7.51 ib	7.49 ib	0.02 ib	0.04 ib
	13.797 Nws	13.79 Nws	13.81 Nws	0.01 ib	-0.01 Nws
9	10.374 Nws	10.35 Nws	10.36 Nws	0.02 ib	0.01 ib
10	2.109 ib	2.03 Nws	2.02 Nws	0.08 ib	0.09 ib
	4.281 ib	4.15	4.16	0.13	0.12
11	14.675 Nws	14.61 Nws	14.66 Nws	0.07 ib	0.02 ib
	8.600 Nws	8.60 ib	8.54 ib	0.00 Nws	0.06 ib
12	13.394 Nws	13.37 Nws	13.35 Nws	0.02 ib	0.04 ib
13	12.940 Nws	12.88 Nws	12.89 Nws	0.06 ib	0.05 Nws
14	7.190 ib	7.20 Nws	7.18 Nws	-0.01 Nws	0.01 ib
15	13.371 Nws	13.36 Nws	13.35 Nws	0.01 ib	0.02 ib
	6.435 ib	6.40 Nws	6.41 ib	0.03 ib	0.02 ib
16	3.742 ib	3.75 ib	3.72 ib	-0.01 Nws	0.02 ib
17	6.022 ib	5.97 ib	5.98 ib	0.05 Nws	0.04 ib
18	3.937 ib	3.93 ib	3.89 ib	0.01 ib	0.05 Nws
19	8.120 Nws	8.10 Nws	8.12 ib	0.02 ib	0.00 Nws
	14.411 Nws	14.40 Nws	14.40 Nws	0.01 ib	0.01 ib
20	6.077 ib	6.04 ib	6.03 ib	0.04 ib	0.05 Nws
21	13.696 ib	13.65 Nws	13.66 Nws	0.05 Nws	0.04 ib
RMSE: Ds1 = 0.0342m, Ds2 = 0.0308m

Qhov xwm txheej 2

Carrier drone	Oblique koob yees duab	GSD	PPK
CW 10 VTOL	DG4 pros	2cm ua	Tsis muaj

Table 2:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) tsis muaj GCP	3D qauv ntev (L2) nrog GCP	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210 ib	7.18 Nws	7.18 Nws	0.030 ib	0.030 ib
	8.706 ib	8.69 ib	8.68 ib	0.016 ib	0.026 ib
	10.961 ib	10.89 Nws	10.91 Nws	0.071 ib	0.051 ib
2	7.010 ib	6.88 ib	6.92 ib	0.130 Nws	0.090 ib
3	1.822 ib	1.76 ib	1.79 ib	0.062 ib	0.032 ib
4	10.410 Nws	10.38 Nws	10.39 Nws	0.030 ib	0.020 ib
5	10.718 Nws	10.65 Nws	10.66 Nws	0.068 ib	0.058 ib
6	13.787 Nws	13.72 Nws	13.77 Nws	0.067 ib	0.017 ib
7	11.404 Nws	11.41 Nws	11.38 Nws	-0.006 Nws	0.024 ib
	12.147 Nws	12.13 Nws	12.12 Nws	0.017 ib	0.027 ib
8	7.526 ib	7.44 ib	7.47 ib	0.086 ib	0.056 ib
	13.797 Nws	13.83 Nws	13.83 Nws	-0.033	-0.033
9	10.374 Nws	10.35 Nws	10.34 Nws	0.024 ib	0.034 ib
10	2.109 ib	1.98 ib	2.03 Nws	0.129 ib	0.079 ib
	4.281 ib	4.14 ib	4.18	0.141 ib	0.101 ib
11	14.675 Nws	14.55 Nws	14.59 Nws	0.125 Nws	0.085 ib
	8.600 Nws	8.58 ib	8.57 ib	0.020 ib	0.030 ib
12	13.394 Nws	13.36 Nws	13.35 Nws	0.034 ib	0.044 ib
13	12.940 Nws	12.95 Nws	12.92 Nws	-0.010 Nws	0.020 ib
14	7.190 ib	7.21 ib	7.21 ib	-0.020 Nws	-0.020 Nws
15	13.371 Nws	13.36 Nws	13.36 Nws	0.011 ib	0.011 ib
	6.435 ib	6.37 ib	6.43 ib	0.065 ib	0.005 ib
16	3.742 ib	3.74 ib	3.72 ib	0.002 ib	0.022 ib
17	6.022 ib	6.03 ib	6.00 Nws	-0.008 Nws	0.022 ib
18	3.937 ib	3.91 ib	3.94 ib	0.027 ib	-0.003 Nws
19	8.120 Nws	8.09 Nws	8.09 Nws	0.030 ib	0.030 ib
	14.411 Nws	14.40 Nws	14.41 Nws	0.011 ib	0.001 ib
20	6.077 ib	6.06 ib	6.03 ib	0.017 ib	0.047 ib
21	13.696 ib	13.68 Nws	13.65 Nws	0.016 ib	0.046 ib
RMSE: Ds1 = 0.0397m, Ds2 = 0.0328m

Qhov xwm txheej 3

Carrier drone	Oblique koob yees duab	GSD	PPK
CW 10 VTOL	DG4 pros	1.5 cm loj	Yog lawm

Table 3:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) tsis muaj GCP	3D qauv ntev (L2) nrog GCP	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210 ib	7.20 Nws	7.21 ib	0.01 ib	0.00 Nws
	8.706 ib	8.69 ib	8.7 ib	0.02 ib	0.01 ib
	10.961 ib	10.88 Nws	10.89 Nws	0.08 ib	0.07 ib
2	7.010 ib	6.87 ib	6.99 ib	0.14 ib	0.02 ib
3	1.822 ib	1.75 ib	1.78 ib	0.07 ib	0.04 ib
4	10.410 Nws	10.38 Nws	10.39 Nws	0.03 ib	0.02 ib
5	10.718 Nws	10.69 Nws	10.69 Nws	0.03 ib	0.03 ib
6	13.787 Nws	13.78 Nws	13.76 Nws	0.01 ib	0.03 ib
7	11.404 Nws	11.38 Nws	11.39 Nws	0.02 ib	0.01 ib
	12.147 Nws	12.12 Nws	12.12 Nws	0.03 ib	0.03 ib
8	7.526 ib	7.49 ib	7.51 ib	0.04 ib	0.02 ib
	13.797 Nws	13.78 Nws	13.8 ib	0.02 ib	0.00 Nws
9	10.374 Nws	10.34 Nws	10.35 Nws	0.03 ib	0.02 ib
10	2.109 ib	2.02 Nws	2.11	0.09 ib	0.00 Nws
	4.281 ib	4.21	4.28 ib	0.07 ib	0.00 Nws
11	14.675 Nws	14.65 Nws	14.68 Nws	0.03 ib	0.00 Nws
	8.600 Nws	8.57 ib	8.53 ib	0.03 ib	0.07 ib
12	13.394 Nws	13.40 Nws	13.37 Nws	-0.01 Nws	0.02 ib
13	12.940 Nws	12.89 Nws	12.91 Nws	0.05 Nws	0.03 ib
14	7.190 ib	7.18 Nws	7.2	0.01 ib	-0.01 Nws
15	13.371 Nws	13.38 Nws	13.35 Nws	-0.01 Nws	0.02 ib
	6.435 ib	6.46 ib	6.4	-0.03 Nws	0.03 ib
16	3.742 ib	3.75 ib	3.71 ib	-0.01 Nws	0.03 ib
17	6.022 ib	5.97 ib	5.98 ib	0.05 Nws	0.04 ib
18	3.937 ib	3.91 ib	3.89 ib	0.03 ib	0.05 Nws
19	8.120 Nws	8.08 Nws	8.1	0.04 ib	0.02 ib
	14.411 Nws	14.38 Nws	14.39 Nws	0.03 ib	0.02 ib
20	6.077 ib	6.05 Nws	6.03 ib	0.03 ib	0.05 Nws
21	13.696 ib	13.67 Nws	13.64 Nws	0.03 ib	0.06 ib
RMSE: Ds1 = 0.0328m, Ds2 = 0.0249m

Qhov xwm txheej 4

Carrier drone	Oblique koob yees duab	GSD	PPK
CW 10 VTOL	DG4 pros	1.5 cm loj	Tsis muaj

Table 4:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) tsis muaj GCP	3D qauv ntev (L2) nrog GCP	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210 ib	7.20 Nws	7.21 ib	0.010 ib	0
	8.706 ib	8.65 ib	8.68 ib	0.056 ib	0.026 ib
	10.961 ib	10.90 Nws	10.87 Nws	0.061 ib	0.091 ib
2	7.010 ib	6.86 ib	6.88 ib	0.150 Nws	0.13
3	1.822 ib	1.76 ib	1.76 ib	0.062 ib	0.062 ib
4	10.410 Nws	10.37 Nws	10.38 Nws	0.040 ib	0.03 ib
5	10.718 Nws	10.68 Nws	10.72 Nws	0.038 ib	-0.002
6	13.787 Nws	13.71 Nws	13.79 Nws	0.077 ib	-0.003 Nws
7	11.404 Nws	11.38 Nws	11.38 Nws	0.024 ib	0.024 ib
	12.147 Nws	12.12 Nws	12.13 Nws	0.027 ib	0.017 ib
8	7.526 ib	7.49 ib	7.53 ib	0.036 ib	-0.004 Nws
	13.797 Nws	13.77 Nws	13.78 Nws	0.027 ib	0.017 ib
9	10.374 Nws	10.35 Nws	10.37 Nws	0.024 ib	0.004 ib
10	2.109 ib	2.09 Nws	2.11	0.019 ib	-0.001 Nws
	4.281 ib	4.19 ib	4.28 ib	0.091 ib	0.001 ib
11	14.675 Nws	14.64 Nws	14.67 Nws	0.035 ib	0.005 ib
	8.600 Nws	8.57 ib	8.58 ib	0.030 ib	0.02 ib
12	13.394 Nws	13.38 Nws	13.39 Nws	0.014 ib	0.004 ib
13	12.940 Nws	12.91 Nws	12.9 Nws	0.030 ib	0.04 ib
14	7.190 ib	7.20 Nws	7.19 ib	-0.010 Nws	0
15	13.371 Nws	13.38 Nws	13.37 Nws	-0.009 Nws	0.001 ib
	6.435 ib	6.43 ib	6.42 ib	0.005 ib	0.015 ib
16	3.742 ib	3.70 ib	3.7	0.042 ib	0.042 ib
17	6.022 ib	5.99 ib	5.98 ib	0.032 ib	0.042 ib
18	3.937 ib	3.94 ib	3.91 ib	-0.003 Nws	0.027 ib
19	8.120 Nws	8.12 ib	8.07 Nws	0.000	0.05 Nws
	14.411 Nws	14.37 Nws	14.38 Nws	0.041 ib	0.031 ib
20	6.077 ib	6.04 ib	6.04 ib	0.037 ib	0.037 ib
21	13.696 ib	13.65 Nws	13.65 Nws	0.046 ib	0.046 ib
RMSE: Ds1 = 0.0356m, Ds2 = 0.0259m

Qhov xwm txheej 5

Carrier drone	Oblique koob yees duab	GSD	PPK
DJI M600 Pro Multi-rotor	DG4 pros	1.5 cm loj	Tsis muaj

Table 5:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) tsis muaj GCP	3D qauv ntev (L2) nrog GCP	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210 ib	7.19 ib	7.21 ib	0.02 ib	0.00 Nws
	8.706 ib	8.70 ib	8.70 ib	0.01 ib	0.01 ib
	10.961 ib	10.91 Nws	10.91 Nws	0.05 Nws	0.05 Nws
2	7.010 ib	6.98 ib	6.98 ib	0.03 ib	0.03 ib
3	1.822 ib	1.79 ib	1.80 ib	0.03 ib	0.02 ib
4	10.410 Nws	10.39 Nws	10.39 Nws	0.02 ib	0.02 ib
5	10.718 Nws	10.69 Nws	10.70 Nws	0.03 ib	0.02 ib
6	13.787 Nws	13.76 Nws	13.75 Nws	0.03 ib	0.04 ib
7	11.404 Nws	11.38 Nws	11.38 Nws	0.02 ib	0.02 ib
	12.147 Nws	12.12 Nws	12.13 Nws	0.03 ib	0.02 ib
8	7.526 ib	7.50 Nws	7.49 ib	0.03 ib	0.04 ib
	13.797 Nws	13.77 Nws	13.79 Nws	0.03 ib	0.01 ib
9	10.374 Nws	10.33 Nws	10.35 Nws	0.04 ib	0.02 ib
10	2.109 ib	2.02 Nws	2.07 Nws	0.09 ib	0.04 ib
	4.281 ib	4.20 ib	4.21	0.08 ib	0.07 ib
11	14.675 Nws	14.65 Nws	14.66 Nws	0.03 ib	0.02 ib
	8.600 Nws	8.57 ib	8.57 ib	0.03 ib	0.03 ib
12	13.394 Nws	13.35 Nws	13.35 Nws	0.04 ib	0.04 ib
13	12.940 Nws	12.92 Nws	12.93 Nws	0.02 ib	0.01 ib
14	7.190 ib	7.17 ib	7.18 Nws	0.02 ib	0.01 ib
15	13.371 Nws	13.35 Nws	13.36 Nws	0.02 ib	0.01 ib
	6.435 ib	6.41 ib	6.42 ib	0.02 ib	0.01 ib
16	3.742 ib	3.70 ib	3.71 ib	0.04 ib	0.03 ib
17	6.022 ib	5.99 ib	6.00 Nws	0.03 ib	0.02 ib
18	3.937 ib	3.89 ib	3.91 ib	0.05 Nws	0.03 ib
19	8.120 Nws	8.08 Nws	8.10 Nws	0.04 ib	0.02 ib
	14.411 Nws	14.36 Nws	14.35 Nws	0.05 Nws	0.06 ib
20	6.077 ib	6.06 ib	6.06 ib	0.02 ib	0.02 ib
21	13.696 ib	13.65 Nws	13.67 Nws	0.05 Nws	0.03 ib
RMSE: Ds1 = 0.0342m, Ds2 = 0.0256m

Cov lus xaus

Cov kev hloov pauv ntawm kev sim 1 yog:

1: Nrog / Tsis muaj PPK cov ntaub ntawv.

2: Carrier drone hom: VTOL drone lossis multi-rotor drone

3: txawv GSD: 1.5 cm lossis 2cm

Tom qab kev tshuaj xyuas ntawm tsib pawg ntawm cov ntaub ntawv sim, peb tuaj yeem kos cov lus xaus hauv qab no:

Thaum lub koob yees duab oblique yog DG4Pros:

(1) Nrog / Tsis muaj qhov taw tes tswj hauv av (GCP) koom nrog hauv AT triangulation, txawm tias nws yog VTOL lossis ntau lub rotor drone, txawm tias GSD yog 2cm lossis 1.5cm, 3D qauv tsim los ntawm oblique lub koob yees duab DG4Pros tuaj yeem ua tau raws li qhov xav tau. cov kev cai ntawm cov txheeb ze raug yuam kev Ds≤10cm.

(2) Thaum nrog / tsis muaj GCPs yog tib qhov sib txawv, qhov txheeb ze qhov tseeb ntawm 3D qauv nrog GCPs yog qhov zoo dua qhov tsis muaj GCP.

(3) Thaum GSD yog tib qhov sib txawv, qhov txheeb ze qhov tseeb ntawm tus qauv 3D uas GSD 1.5cm zoo dua li GSD 2cm.

(4) Thaum tus cab kuj drone yog ib qho sib txawv, qhov txheeb ze ntawm tus qauv 3D uas siv ntau lub rotor yog qhov zoo dua qhov uas siv VTOL raws li tus neeg nqa khoom drone.

Kev sim 2: Yog tsis muaj GCPs, cov txiaj ntsig ntawm PPK cov ntaub ntawv ntawm qhov txheeb ze ntawm tus qauv 3D

Qhov xwm txheej 1

Carrier drone	Oblique koob yees duab	GSD	GCPs
CW 10 VTOL	DG4 pros	2cm ua	TSIS MUAJ

Table 1:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) tsis muaj PPK	3D qauv ntev (L2) nrog PPK	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210 ib	7.18 Nws	7.20 Nws	0.030 ib	0.01 ib
	8.706 ib	8.69 ib	8.71 ib	0.016 ib	0.00 Nws
	10.961 ib	10.89 Nws	10.87 Nws	0.071 ib	0.09 ib
2	7.010 ib	6.88 ib	6.89 ib	0.130 Nws	0.12
3	1.822 ib	1.76 ib	1.79 ib	0.062 ib	0.03 ib
4	10.410 Nws	10.38 Nws	10.39 Nws	0.030 ib	0.02 ib
5	10.718 Nws	10.65 Nws	10.67 Nws	0.068 ib	0.05 Nws
6	13.787 Nws	13.72 Nws	13.75 Nws	0.067 ib	0.04 ib
7	11.404 Nws	11.41 Nws	11.39 Nws	-0.006 Nws	0.01 ib
	12.147 Nws	12.13 Nws	12.13 Nws	0.017 ib	0.02 ib
8	7.526 ib	7.44 ib	7.51 ib	0.086 ib	0.02 ib
	13.797 Nws	13.83 Nws	13.79 Nws	-0.033	0.01 ib
9	10.374 Nws	10.35 Nws	10.35 Nws	0.024 ib	0.02 ib
10	2.109 ib	1.98 ib	2.03 Nws	0.129 ib	0.08 ib
	4.281 ib	4.14 ib	4.15	0.141 ib	0.13
11	14.675 Nws	14.55 Nws	14.61 Nws	0.125 Nws	0.07 ib
	8.600 Nws	8.58 ib	8.60 ib	0.020 ib	0.00 Nws
12	13.394 Nws	13.36 Nws	13.37 Nws	0.034 ib	0.02 ib
13	12.940 Nws	12.95 Nws	12.88 Nws	-0.010 Nws	0.06 ib
14	7.190 ib	7.21 ib	7.20 Nws	-0.020 Nws	-0.01 Nws
15	13.371 Nws	13.36 Nws	13.36 Nws	0.011 ib	0.01 ib
	6.435 ib	6.37 ib	6.40 Nws	0.065 ib	0.03 ib
16	3.742 ib	3.74 ib	3.75 ib	0.002 ib	-0.01 Nws
17	6.022 ib	6.03 ib	5.97 ib	-0.008 Nws	0.05 Nws
18	3.937 ib	3.91 ib	3.93 ib	0.027 ib	0.01 ib
19	8.120 Nws	8.09 Nws	8.10 Nws	0.030 ib	0.02 ib
	14.411 Nws	14.40 Nws	14.40 Nws	0.011 ib	0.01 ib
20	6.077 ib	6.06 ib	6.04 ib	0.017 ib	0.04 ib
21	13.696 ib	13.68 Nws	13.65 Nws	0.016 ib	0.05 Nws
RMSE Ds1 = 0.0397m, Ds2 = 0.0342m

Yav dhau los:Yuav ua li cas chromatic aberration thiab distortion cuam tshuam ima

Tom ntej:Yuav ua li cas focal ntev cuam tshuam 3D qauv kev tshwm sim

Rov qab los

RIY oblique koob yees duab

RIE ib leeg-lens koob yees duab

Cov khoom siv

Cov kws tshaj lij

Zoo dua sib dua

Txuag sijhawm

Kawm ua haujlwm hauv 10 feeb

Cov duab zoo thiab raug

Synchronization raug

Muaj zog thiab nyab xeeb

Nws tuaj yeem ua ke nrog ntau hom drones

Kev Tshawb Fawb / GIS

Lub Nroog Ntse

Kev tsim kho / mining

Tourism / Ancient vaj tse tiv thaiv

Tub Rog/ Tub Ceev Xwm

Kab lus

Kev sim 1: cov txiaj ntsig ntawm cov ntsiab lus tswj hauv av (GCPs) ntawm qhov txheeb ze qhov tseeb ntawm tus qauv 3D;

Qhov xwm txheej 1

Table 1:

Qhov xwm txheej 2

Table 2:

Qhov xwm txheej 3

Table 3:

Qhov xwm txheej 4

Table 4:

Qhov xwm txheej 5

Table 5:

Cov lus xaus

Kev sim 2: Yog tsis muaj GCPs, cov txiaj ntsig ntawm PPK cov ntaub ntawv ntawm qhov txheeb ze ntawm tus qauv 3D

Qhov xwm txheej 1

Table 1:

PRODUCTS+

APPLICATIONS+

Kab lus+

Hais txog peb+

Tiv tauj peb