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Relative Pose Estimation from Airborne Image Sequences

Reize, Tanja and Müller, Ruppert and Kurz, Franz (2012) Relative Pose Estimation from Airborne Image Sequences. In: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, I-3 , pp. 57-61. Copernicus Publications. XXII ISPRS Congress 2012, 25. Aug. – 01. Sep. 2012, Melbourne, Australia. ISSN doi:10.5194/isprsannals-I-3-57-2012

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Official URL: http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/I-3/57/2012/


We present a new relative pose estimation method for applications based on airborne image sequences. The performance of the method is tested using simulated test data, with correct and erroneous original conditions, as well as using real data. The calculated results obtained from real images are compared to the on-board measured angles. The results show that the proposed method is very precise and fast. Most matching algorithms are very computation time expensive mainly because they rely on RANSAC methods that need a lot of matching points. Due to the circumstance that only two corresponding points are necessary to solve the equation system, our technique doesn't need much computation time. Outliers are detected by a special back-matching technique. A method based on Polynomial Homotopy Continuation (PHC) is used to solve the complex polynomial equation system. The proposed pose solver method runs without SVD calculations, expensive minimisation or optimisation. Start parameters are not necessary. Furthermore, no a priori knowledge is required, besides focal length in pixel units and overlapping consecutive images. Outcomes are three relative orientation angles and a scaling parameter between two subsequent images, as well as displacement vectors in image pixel coordinate units. In addition, the PHC pose estimation method can balance small pixel errors. All these properties indicate the high applicability of the proposed method.

Item URL in elib:https://elib.dlr.de/77899/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Relative Pose Estimation from Airborne Image Sequences
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Reize, Tanjatanja.reize (at) dlr.de UNSPECIFIED
Müller, Ruppertruppert.mueller (at) dlr.deUNSPECIFIED
Kurz, FranzFranz.Kurz (at) dlr.deUNSPECIFIED
Date:19 July 2012
Journal or Publication Title:ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:No
Page Range:pp. 57-61
Paparoditis, N.UNSPECIFIED
Publisher:Copernicus Publications
Series Name:ISPRS Annals
Keywords:Photogrammetry, Image Orientation Estimation Method, Matching, Algorithms, IMU
Event Title:XXII ISPRS Congress 2012
Event Location:Melbourne, Australia
Event Type:international Conference
Event Dates:25. Aug. – 01. Sep. 2012
Organizer:International Society of Photogrammetry and Remote Sensing
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - VABENE (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited On:16 Oct 2012 11:03
Last Modified:16 Oct 2012 11:03

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