The classic way of aerial photographs geolocation is to bind their local coordinates to a geographic coordinate system using GPS and IMU data. At the same time the possibility of geolocation in a jammed navigation field is also of interest for practical purposes. In this paper we consider one approach to visual localization relatively to a vector road map without GPS. We suggest a geolocalization algorithm which detects image line segments and looks for a geometrical transformation which provides the best mapping between the obtained segments set and line segments in the road map. We consider IMU and altimeter data still known which allows to work with orthorectified images. The problem is hence reduced to a search for a transformation which contains an arbitrary shift and bounded rotation and scaling relatively to the vector map. These parameters are estimated using RANSAC by matching straight line segments from the image to vector map segments. We also investigate how the proposed algorithm’s stability is influenced by segment coordinates (two spatial and one angular).
This paper presents a method of radial distortion automatic compensation on video from an unknown camera. The proposed algorithm estimates the distortion parameters by analyzing a sequence of video frames. It does not require any calibration objects, but is based on the assumption that the original scene contained straight lines. The method tries to perform such radial distortion correction that makes lines look generally straighter. To estimate the overall curvature of the lines we propose to use the fast Hough transform; without actually detecting them in the image. The proposed algorithm has been tested on real data.
Demosaicing is the process of reconstruction of a full-color image from Bayer mosaic, which is used in digital cameras for image formation. This problem is usually considered as an interpolation problem. In this paper, we propose to consider the demosaicing problem as a problem of solving an underdetermined system of algebraic equations using regularization methods. We consider regularization with standard l1/2-, l1 -, l2- norms and their effect on quality image reconstruction. The experimental results showed that the proposed technique can both be used in existing methods and become the base for new ones