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Structure from motion with planar homography estimation: a real-time low-bandwidth, high-resolution variant for aerial reconnaissance

Author

Listed:
  • Christian Arnold
  • Scott Nykl
  • Scott Graham
  • Robert Leishman

Abstract

We propose a new algorithm variant for Structure from Motion (SfM) to enable real-time image processing of scenes imaged by aerial drones. Our new SfM variant runs in real-time at 4 Hz equating to an 80× computation time speed-up compared to traditional SfM and is capable of a 90% size reduction of original video imagery, with an added benefit of presenting the original two-dimensional (2D) video data as a three-dimensional (3D) virtual model. This opens many potential applications for a real-time image processing that could make autonomous vision–based navigation possible by completely replacing the need for a traditional live video feed. The 3D reconstruction that is generated comes with the added benefit of being able to generate a spatially accurate representation of a live environment that is precise enough to generate global positioning system (GPS) coordinates from any given point on an imaged structure, even in a GPS-denied environment.

Suggested Citation

  • Christian Arnold & Scott Nykl & Scott Graham & Robert Leishman, 2024. "Structure from motion with planar homography estimation: a real-time low-bandwidth, high-resolution variant for aerial reconnaissance," The Journal of Defense Modeling and Simulation, , vol. 21(1), pages 47-64, January.
    • Handle: RePEc:sae:joudef:v:21:y:2024:i:1:p:47-64
    DOI: 10.1177/15485129211062880
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