Overlapping Image-Set Determination Method Based on Hybrid BoVW-NoM Approach for UAV Image Localization

With the increasing use of unmanned aerial vehicles (UAVs) in various fields, achieving the precise localization of UAV images is crucial for enhancing their utility. Photogrammetry-based techniques, particularly bundle adjustment, serve as foundational methods for accurately determining the spatial coordinates of UAV images. The effectiveness of bundle adjustment is significantly influenced by the selection of input data, particularly the composition of overlapping image sets. The selection process of overlapping images significantly impacts both the accuracy of spatial coordinate determination and the computational efficiency of UAV image localization. Therefore, a strategic approach to this selection is crucial for optimizing the performance of bundle adjustment in UAV image processing. In this context, we propose an efficient methodology for determining overlapping image sets. The proposed method selects overlapping images based on image similarity, leveraging the complementary strengths of the bag of visual words and number of matches techniques. Essentially, our method achieves both high accuracy and high speed by utilizing a Bag of Visual Words for candidate selection and the number of matches for additional similarity assessment for overlapping image-set determination. We compared the performance of our proposed methodology with the conventional number of matches and bag-of-visual word-based methods for overlapping image-set determination. In the comparative evaluation, the proposed method demonstrated an average precision of 96%, comparable to that of the number of matches-based approach, while surpassing the 62% precision achieved by both bag-of-visual-word methods. Moreover, the processing time decreased by approximately 0.11 times compared with the number of matches-based methods, demonstrating relatively high efficiency. Furthermore, in the bundle adjustment results using image sets, the proposed method, along with the number of matches-based methods, showed reprojection error values of less than 1, indicating relatively high accuracy and contributing to the improvement in accuracy in estimating image positions.