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This paper presents a new multi-view stereo approach that reconstructs aerial or outdoor scenes in both a planar and a point representation. One of the key features is to integrate two heterogeneous schemes for planar and non-planar reconstruction, given a color segmentation where each segment is classified as either planar or non-planar. In planar reconstruction, an optimal plane for each segment is chosen among possible plane candidates by comparing the remapped reference segment region with multiple target images in parallel on a GPU. In point reconstruction for non-planar objects, remapped pixel descriptors along an epipolar line pair are efficiently matched on a GPU. Our method also detects and discards incorrect segment planes and outliers that have a large 3D discontinuity with the neighboring segment planes. Several aerial and outdoor scene reconstruction results with quantitative analyses are provided.

GPU-FRIENDLY MULTI-VIEW STEREO FOR OUTDOOR PLANAR SCENE RECONSTRUCTION