Estimating Pose and Motion using Bundle Adjustment and Digital Elevation Model Constraints

Gil Briskin, M.Sc. Thesis Seminar
Wednesday, 20.3.2013, 12:30
Taub 601
Prof. E. Rivlin, Dr. H. Rotstein

Pose and motion estimation of a calibrated camera is a common application in the photogrammetric world. In most cases this is solved by combining motion estimation with connections between the images taken by the camera and external geographical data (Orthophoto, Digital Terrain Model etc). While the motion estimation can be solved automatically, by Bundle Adjustment for example, the connections to the geographical data are generated manually. In this paper, we propose a novel approach that integrates the Digital Terrain Model into the Bundle Adjustment framework by adding new constraints using second order linearization of the terrain.

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