Geodetic coordinate calculation based on monocular vision on UAV platform

Abstract

Vision measurement technology research is active in recent years, which has broad application prospect in the fields of military and civilian industrial production. On the basis of comparing several existing measurement techniques, our paper mainly studied a method of geodetic coordinate calculation based on monocular vision on UAV platform, which is extension and expansion of the traditional monocular vision measurement method. Our system only needs a monocular camera carried on UAV platform and combines the latest ORB-SLAM algorithm, we can virtually extend the monocular camera into the binocular camera and even the multi-view camera system. What about the virtuality? When we perform the ORB-SLAM, our system can accurately estimate the camera pose information of each KeyFrame, it is conceivable that we can view each KeyFrame as a separate camera view, and then we select the correlative frames of the target to calculate the geodetic coordinate optimally using multiple views projective reconstruction method. All outcomes of indoor and outdoor experiments show that our system has good measuring precision, the details shown in the following sections.