A NEW APPROACH FOR PROGRESSIVE DENSE RECONSTRUCTION FROM CONSECUTIVE IMAGES BASED ON PRIOR LOW-DENSITY 3D POINT CLOUDS

Abstract. In recent years, the increasing incidence of climate-related disasters has tremendously affected our environment. In order to effectively manage and reduce dramatic impacts of such events, the development of timely disaster management plans is essential. Since these disasters are spatial phenomena, timely provision of geospatial information is crucial for effective development of response and management plans. Due to inaccessibility of the affected areas and limited budget of first-responders, timely acquisition of the required geospatial data for these applications is usually possible only using low-cost imaging and georefencing sensors mounted on unmanned platforms. Despite rapid collection of the required data using these systems, available processing techniques are not yet capable of delivering geospatial information to responders and decision makers in a timely manner. To address this issue, this paper introduces a new technique for dense 3D reconstruction of the affected scenes which can deliver and improve the needed geospatial information incrementally. This approach is implemented based on prior 3D knowledge of the scene and employs computationally-efficient 2D triangulation, feature descriptor, feature matching and point verification techniques to optimize and speed up 3D dense scene reconstruction procedure. To verify the feasibility and computational efficiency of the proposed approach, an experiment using a set of consecutive images collected onboard a UAV platform and prior low-density airborne laser scanning over the same area is conducted and step by step results are provided. A comparative analysis of the proposed approach and an available image-based dense reconstruction technique is also conducted to prove the computational efficiency and competency of this technique for delivering geospatial information with pre-specified accuracy.