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The paper presents an efficient photogrammetric workflow to improve the 3D reconstruction of scenes surveyed by integrating terrestrial and Unmanned Aerial Vehicle (UAV) images. In the last years, the integration of this kind of images has shown clear advantages for the complete and detailed 3D representation of large and complex scenarios. Nevertheless, their photogrammetric integration often raises several issues in the image orientation and dense 3D reconstruction processes. Noisy and erroneous 3D reconstructions are the typical result of inaccurate orientation results. In this work, we propose an automatic filtering procedure which works at the sparse point cloud level and takes advantage of photogrammetric quality features. The filtering step removes low-quality 3D tie points before refining the image orientation in a new adjustment and generating the final dense point cloud. Our method generalizes to many datasets, as it employs statistical analyses of quality feature distributions to identify suitable filtering thresholds. Reported results show the effectiveness and reliability of the method verified using both internal and external quality checks, as well as visual qualitative comparisons. We made the filtering tool publicly available on GitHub.

Refining the Joint 3D Processing of Terrestrial and UAV Images Using Quality Measures