关键词: 无人机, 抖动模糊, 运动恢复结构, 点云, 稠密重建

Abstract: Some issues are prominent and unsettled in the field of Unmanned Aerial Vehicle（UAV） for big scene objects 3D reconstruction, for instance, dithering fuzzy phenomenon can still be attributed to camera-shake in 3D reconstruction; sparse point cloud and poor visualization are still in the presence after Structure from Motion（SFM） on 2D image sequences. To cope with the problems, this paper, at first, proposes the Removing Camera-Shake Fuzzy Algorithm to restore the original image information of the blurred image and then 3D reconstruction based on point cloud is put forward on the basis of structure from motion. Finally, Poisson surface reconstruction is applied into the point cloud obtained from the dense reconstruct. The experimental results demonstrate that the Removing Camera-shake Fuzzy Algorithm, to a large extent, improves the image quality and after dense 3D reconstruction, the big scene objects are more authentic and possess higher visual quality.

Key words: Unmanned Aerial Vehicle（UAV）, shake the fuzzy, Structure from Motion（SFM）, point cloud, dense reconstruction