Multi-UAV collaborative 3D reconstruction based on image sensors

LAI Chenchen; LIN Sheng; CHEN Zhongyuan

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Multi-UAV collaborative 3D reconstruction based on image sensors

Research & Approach | 更新时间：2026-05-18

- Multi-UAV collaborative 3D reconstruction based on image sensors
- Vol. 45, Issue 5, Pages: 59-64(2026)
- 作者机构：
  
  1. 福州外语外贸学院智能建造学院,福建,福州,350202
  2. 中建一局集团第五建筑有限公司,福建,福州,350018
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP212;TP391
- Published：2026
- 稿件说明：
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LAI Chenchen, LIN Sheng, CHEN Zhongyuan. Multi-UAV collaborative 3D reconstruction based on image sensors[J]. 2026, 45(5): 59-64.
DOI：

LAI Chenchen, LIN Sheng, CHEN Zhongyuan. Multi-UAV collaborative 3D reconstruction based on image sensors[J]. 2026, 45(5): 59-64. DOI：

摘要

针对无人机大规模三维重建任务中商业飞行软件缺乏自适应图像采集能力、以及单机性能与续航有限的问题，提出了一种多无人机航拍传感器融合的建筑物三维重建算法。该方法中，无人机搭载图像传感器，基于任务与搜索原则构建航迹规划框架，首先通过评估场景可重构性确定最优拍摄位姿，以提升重建质量；进而将任务序列按最小转角与长度特征分配给多架无人机，以降低整体能耗；最终将能耗、安全性与可重构性整合为统一优化模型，实现多机协同路径搜索。实验结果表明，该方法能够有效支持多无人机协作完成图像采集，在显著降低能源成本的同时，实现了高质量的三维重建效果。

Abstract

To address the problems that commercial flight software lacks adaptive image acquisition capability

and that individual unmanned aerial vehicles(UAVs) have limited performance and endurance in large-scale UAV 3D reconstruction tasks

a 3D reconstruction algorithm for buildings based on multi-UAV aerial photography sensor fusion is proposed.In this method

UAVs are equipped with image sensors

and a trajectory planning framework is constructed based on task and search principles.First

the optimal shooting pose is determined by evaluating scene reconfigurability to improve reconstruction quality.Then

task sequences are assigned to multiple UAVs based on minimum turning angle and length features to reduce overall energy consumption.Finally

energy consumption

safety and reconfigurability are integrated into a unified optimization model to achieve multi-UAV collaborative path search.Experimental results show that this method can effectively support multi-UAV collaborative image acquisition and achieve high-quality 3D reconstruction effects while significantly reducing energy costs.

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