Automated Camera Pose Generation for High-Resolution 3D Reconstruction of Bridges by Unmanned Aerial Vehicles

Abstract

This work explores the possibility of automating the aerial survey of bridges to generate high-resolution images necessary for digital damage inspection. High-quality unmanned aerial vehicle (UAV) based 3D reconstruction of bridges is an important step towards autonomous infrastructure inspection. However, the calculation of optimal camera poses remains challenging due to the complex structure of bridges and is therefore often conducted manually. This process is time-consuming and can lead to quality losses. Research in this field to automate this process is yet sparse and often requires high informative models of the bridge as the base for calculations, which are not given widely. Therefore, this paper proposes an automated camera pose calculation method solely based on an easily accessible polygon mesh of the bridge. For safe operation, point cloud data of the environment are used for automated ground detection and obstacle avoidance including vegetation. First, an initial set of camera poses is generated based on a voxelized mesh created in respect to the quality requirements for 3D reconstruction using defined camera specification. Thereafter, camera poses not fulfilling safety distances are removed and specific camera poses are added to increase local coverage quality. Evaluations of three bridges show that for diverse bridge types, near-complete coverage was achieved. Due to the low computational effort of the voxel approach, the runtime was kept to a minimum, even for large bridges. The subsequent algorithm is able to find alternative camera poses even in areas where the optimal pose could not be placed due to obstacles.