Parallax-Free Registration of Aerial Video

Aerial video registration is traditionally performed using 2-d transforms in the image space. For scenes with large 3-d relief, this approach causes parallax motions which may be detrimental to image processing and vision algorithms further down the pipeline. A novel, automatic, and online video registration system is proposed which renders the scene from a fixed viewpoint, eliminating motion parallax from the registered video. The 3-d scene is represented with a probabilistic voxel model, and camera pose at each frame is estimated using an Extended Kalman Filter and a refinement procedure based on a popular visual servoing technique.