High resolution terrain mapping using low altitude aerial stereo imagery

Authors:
Il-Kyun Jung;Simon Lacroix
Affiliations:
-;-
Venue:
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Year:
2003

Citing 0
Cited 9

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Abstract

This paper presents an approach to build high resolutiondigital elevation maps from a sequence of unregistered lowaltitude stereovision image pairs. The approach first uses avisual motion estimation algorithm that determines the 3Dmotions of the cameras between consecutive acquisitions,on the basis of visually detected and matched environmentfeatures. An extended Kalman filter then estimates both the6 position parameters and the 3D positions of the memorizedfeatures as images are acquired. Details are given onthe filter implementation and on the estimation of the uncertaintieson the feature observations and motion estimations.Experimental results show that the precision of the methodenables to build spatially consistent very large maps.