Placering av flygfoton i realtid utifrån bildegenskaper

With increased mobile hardware capabilities, improved UAVs and modern algorithms, accurate maps can be created in real-time by capturing overlapping photographs of the ground. A method for mapping that can be used is to position photos by relying purely on the GPS position and altitude. However, GPS inaccuracies will be visible in the created map. In this paper, we will instead present a method for aligning the photos correctly with the help of feature matching. Feature matching is a well-known method which analyses two photos to find similar parts. If an overlap exists, feature matching can be used to find and localise those parts, which can be used for positioning one image over the other at the overlap. When repeating the process, a whole map can be created. For this purpose, we have also evaluated a selection of feature detection and matching algorithms. The algorithm found to be the best was SIFT with FLANN, which was then used in a prototype for creating a complete map of a forest. Feature matching is in many cases superior to GPS positioning, although it cannot be fully depended on as failed or incorrect matching is a common occurrence