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Proceedings Paper

Improved object geo-location in airborne camera images using tight integration of vision and navigation data
Author(s): Christoph Kessler; Natalie Frietsch; Christian Schlaile; Gert F. Trommer
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Paper Abstract

A method for precise geo-location of objects that are observed by an airborne camera is described in this paper. The platform for image acquisition is a micro aerial vehicle (MAV) with an integrated navigation system. From the captured image sequences and MAV navigation data, the three-dimensional positions of objects of interest are retrieved. Different techniques for image feature tracking are compared. Combining measurements from multiple viewpoints in a Bundle Adjustment process yields optimal accuracy of the estimated object positions. The robustness of the optimization is enhanced by tight integration of data from both the vision and the navigation system.

Paper Details

Date Published: 24 September 2009
PDF: 10 pages
Proc. SPIE 7480, Unmanned/Unattended Sensors and Sensor Networks VI, 74800Z (24 September 2009); doi: 10.1117/12.829586
Show Author Affiliations
Christoph Kessler, Univ. of Karlsruhe (Germany)
Natalie Frietsch, Univ. of Karlsruhe (Germany)
Christian Schlaile, Univ. of Karlsruhe (Germany)
Gert F. Trommer, Univ. of Karlsruhe (Germany)

Published in SPIE Proceedings Vol. 7480:
Unmanned/Unattended Sensors and Sensor Networks VI
Edward M. Carapezza, Editor(s)

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