Abstract
Photogrammetry is a technique to reconstruct the spatial position and 3D model of an object using its images. A geographical survey executed by an autonomous Unmanned Aerial Vehicle (UAV) is a powerful supplement to the photogrammetry method for measuring buildings, with the characteristics of mobility and flexibility, accuracy, and low operating costs. However, in a geographical survey, human still plays an irreplaceable role from the safe flight of the UAV to supervising mission progress and picture quality. This paper analyzes the tasks in a geographical survey mission based on a UAV system and allocates them among three agents, autonomous system, pilot, and operator. An autonomous UAV system is developed to finish the autonomous tasks. A field experiment is conducted to demonstrate the effectiveness of the proposed human UAV cooperative strategy. And the 3D digital model of a monument is generated by the taken images during the flight.
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