R. A. Reboucas, Quenaz da Cruz Eller, Mateus Habermann, Elcio Hideiti Shiguemori
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Visual Odometry and Moving Objects Localization Using ORB and RANSAC in Aerial Images Acquired by Unmanned Aerial Vehicles
In this paper the visual odometry and the localization of moving objects from aerial images are addressed. The techniques used in this work are the Oriented FAST and Rotated BRIEF (ORB) descriptor to detect and extract the interest points and the Random Sample Consensus (RANSAC) method to estimate the parameters from a matched points matrix for finding the camera translation. The visual odometry and morphological operations to point out moving objects have been performed.
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