Pose Estimation from Airborne Video Sequences Using a Structural Approach for the Construction of Homographies and Fundamental Matrices

Abstract

A structural knowledge-based search method is utilized for the estimation of geometric transforms from airborne video sequences. Examples are projective planar homographies and constraints such as the fundamental matrix. These estimations are calculated from correspondences of interest points between two images. Different approaches are discussed to cope with the problem of outlier-correspondences. To ensure anytime performance the search process is implemented in a data-driven production system. The pose estimation from planar homographies is compared to estimations from fundamental matrices. A fusion of both approaches is proposed. The image processing is performed by bottom-up structural analysis using an assessment-driven control. Examples are from the thermal spectral domain.