| 摘要 |
The absolute position of a target object point is determined using a series of images of the scene with overlapping fields of view captured by a camera on an aircraft or UAV in positions arranged in at least two dimensions across the scene and position data representing the absolute positions of the camera on capture of the respective images. The images are analysed to identify sets of image points corresponding to common object points in the scene. A bundle adjustment is performed on the sets of image points that estimate parameters representing the positions of the object points relative to the positions of the camera associated with each image, but without using input orientation data representing the orientation of the camera. The absolute position of the target object point is derived on the basis of the results of the bundle adjustment and the absolute positions of the camera represented by the position data which may be derived from GPS data. Target points in the image may then be identified by estimating a homography between one image in which a target point is designated and other images, predicting the position of the target in the other images using the homography and detecting matching image patches within a search region around the position of the designated target point in other images that match an image patch at the position of the target point in one of the images. |
