Camera pose estimation using Visual Servoing for aerial video change detection

Aerial image change detection is highly dependent on the accuracy of camera pose and may be subject to false alarms caused by misregistrations. In this paper, we present a novel pose estimation approach based on Visual Servoing that combines aerial videos with 3D models. Firstly, we introduce a formulation that relates image registration with the poses of a moving camera observing a 3D plane. Then, we combine this formulation with Newton´s algorithm in order to estimate camera poses in a given aerial video. Finally, we present and discuss experimental results which demonstrate the robustness and the accuracy of our method.