以無人機進行航空拍攝已成為現今攝影技術的革新，許多拍攝場景皆應用到無人機進行動態攝影，但無人機在操控上需要經由反覆的練習，方能熟悉控制以確保無人機飛行能準確到達理想位置及飛行時的穩定性，因此本文旨在利用電腦視覺結合控制理論以重建三維環境模型為目的，藉由微型飛行器自主完成。
本論文以三個研究方向去實現，單眼相機定位、視覺追蹤控制和三維重建，在相機定位部分因考量其穩健性，希望能適用於各場景，因此已標誌定位，進行相機位置推算;視覺追蹤控制部分，藉由標誌取得之相機姿態位置，由四旋翼機的動力學推導並引入PID控制器進行軌跡追蹤;最後以三維重建技術評估飛行拍攝結果。
經由實驗分析飛行軌跡誤差、執行時間和重建結果分析，驗證本論文研究方法之可行性，可協助使用者實現一套自主拍攝並重建三維環境的系統。

It is an achieved technology innovation for aerial photography with unmanned aerial vehicle nowadays. Recording video with designed trajectory and letting it follow the path has been applied in many shooting applications. Hence, this thesis’s purpose is to build a 3D environment reconstruction by autonomous Micro Aerial Vehicle (MAV).
Three kinds of research purposes are described in this thesis in order to achieve goals, which are monocular camera localization, visual tracking control and 3D reconstruction. The camera localization is considered to apply in many environments robustly so that it adopted marker-base to estimate the camera pose. And these markers are defined by list of binary codifications for detecting and pose estimating. The visual tracking control navigates quadrotor by camera pose and control strategy. The control strategy is obtained from derive dynamic of quadrotor and PID controller for trajectory tracking. In the end, it evaluated aerial photograph outcome by 3D reconstruction.
The experimental result shows flight trajectory, execution time and analysis of reconstruction to verify this thesis’s proposal is feasible in real world. Therefore, the result also verifies that it can help user to shoot video and build 3D environment reconstruction.

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