关键词: 古桥, 消费级无人机, 三维重构, 重构算法, 高还原度

Abstract: There are a large number of ancient bridges in China． However，documentations of ancient bridges are scarce，and the details of them are rare． To provide solution to the lack of data on ancient bridges，3D recon- struction based on consumer-grade unmanned aerial vehicle was proposed． Configuration of consumer-grade un- manned aerial vehicle was first introduced． Parameters of the camera were resolved． Reasonable flight path was then considered． Algorithms of 3D reconstruction was studied． Hongde Bridge in Shanghai was experimented，re- sulting in an optimized 3D model with refine details． The results indicate that 3D reconstruction of ancient bridge based on consumer-grade unmanned aerial vehicle is feasible，complete and of high-fidelity． Thus，the model is particularly suitable for documentation of ancient bridge，leading to digitization and informatization of ancient bridges．

Key words: ancient bridge, consumer-grade unmanned aerial vehicle, 3D reconstruction, reconstruction algo- rithms, high-fidelity