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ISSN 2070-7401 (Print), ISSN 2411-0280 (Online)
Sovremennye problemy distantsionnogo zondirovaniya Zemli iz kosmosa
CURRENT PROBLEMS IN REMOTE SENSING OF THE EARTH FROM SPACE

  

Sovremennye problemy distantsionnogo zondirovaniya Zemli iz kosmosa, 2026, V. 23, No. 1, pp. 49-62

Conversion of a series of UAV camera images for joint processing with satellite images

A.G. Tashlinskii 1 , A.A. Belov 1 , G.L. Safina 2 
1 Ulyanovsk State Technical University, Ulyanovsk, Russia
2 Moscow State University of Civil Engineering, Moscow, Russia
Accepted: 20.11.2025
DOI: 10.21046/2070-7401-2026-23-1-49-62
The technique for real-time combination of images obtained from a camera mounted on a UAV with simultaneous compensation for their projective distortions and translation into the EPSG:3395 geographic coordinate system is proposed. The technique allows obtaining oversampled spatially combined images and is aimed at their subsequent processing together with satellite images. It is based on the formation of a normalized image from the current image frame based on known roll, pitch and yaw angles of the UAV, alignment of several sequentially obtained normalized images into a single image using original stochastic gradient algorithms and its translation from the local frame coordinate system into global geographic coordinates. The technique has shown high efficiency with relatively low computational complexity and can be implemented both in ground-based automated image processing and on board a UAV. Experimental results are presented on real image sequences. The developed algorithms are implemented in C++ using the open source OpenCV library. The software implementation has also been ported to single-board computers Raspberry Pi 4B 8GB and Radxa Rock 5 model A 16GB. The processing speed on Raspberry is 10 frames per second, on Radxa — up to 16 frames per second.
Keywords: image processing, projective distortion, similarity model, compensation, deformation estimation, adaptation, stochastic estimation
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