Real-Time Structure from Motion (SfM) with Planar Homography Estimation
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 80x 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 2D video data as a 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 GPS coordinates from any given point on an imaged structure, even in a GPS denied environment.
A corresponding journal is currently under review and will be linked here once published.
PA Approval 88ABW-2019-2008