Airborne optical sectioning, an effective aerial synthetic aperture imaging technique for revealing artifacts occluded by forests, requires precise measurements of drone poses. In this letter, we present a new approach for reducing pose estimation errors beyond the possibilities of conventional Perspective-n-Point solutions by considering the underlying optimization as a focusing problem. We present an efficient image integration technique, which also reduces the parameter search space to achieve realistic processing times, and improves the quality of resulting synthetic integral images.
- Optical sensors
- Pose estimation
- Thermal sensors
- image processing and computer vision.