Improved visual odometry method for simultaneous unmanned aerial vehicle navigation and earth surface mapping

Abstract

The paper deals with application possibility of visual odometry algorithm for sparse three-dimensional reconstruction and earth surface mapping. Photography is taken by camera mounted on unmanned aerial vehicle during its flying along the specified trajectory. The sparse three-dimensional reconstruction and mapping are based on ability of visual odometry algorithm that retrieves information about geometry of specially selected landmarks on the basis of data received from inertial navigation system, and information retrieved from earth surface photographs. Simultaneously with earth surface reconstruction we define more precisely spatial position and orientation of aircraft that is important for acquisition of qualitative earth surface reconstruction with high resolution by means of stereophotogrammetry methods or by means of points clouds alignment methods in case of laser scanner usage. We have also proposed a method for quality improvement of visual odometry algorithm for precision increase of aircraft spatial position and orientation estimation, and also for earth surface reconstruction quality improvement. For visual odometry algorithm quality improvement we have proposed an original algorithm for detection of earth surface landmarks. Proposed modified visual odometry algorithm can find wide application for different autonomous vehicle navigation, and also as a part of informational system proposed for the Earth remote sensing data processing.