{"id":"https://openalex.org/W7105041744","doi":"https://doi.org/10.48550/arxiv.2511.06152","title":"Real-Time Bundle Adjustment for Ultra-High-Resolution UAV Imagery Using Adaptive Patch-Based Feature Tracking","display_name":"Real-Time Bundle Adjustment for Ultra-High-Resolution UAV Imagery Using Adaptive Patch-Based Feature Tracking","publication_year":2025,"publication_date":"2025-11-08","ids":{"openalex":"https://openalex.org/W7105041744","doi":"https://doi.org/10.48550/arxiv.2511.06152"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2511.06152","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.06152","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2511.06152","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Iz, Selim Ahmet","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Iz, Selim Ahmet","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Nex, Francesco","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nex, Francesco","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Kerle, Norman","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kerle, Norman","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Meissner, Henry","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Meissner, Henry","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Berger, Ralf","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Berger, Ralf","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.2653000056743622,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.2653000056743622,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.24609999358654022,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.13009999692440033,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.7458000183105469},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5141000151634216},{"id":"https://openalex.org/keywords/geospatial-analysis","display_name":"Geospatial analysis","score":0.47049999237060547},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.414000004529953},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4077000021934509},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.39259999990463257},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.3677999973297119},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.3359000086784363},{"id":"https://openalex.org/keywords/feature-tracking","display_name":"Feature tracking","score":0.32910001277923584}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.761900007724762},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.7458000183105469},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6653000116348267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6642000079154968},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5141000151634216},{"id":"https://openalex.org/C9770341","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Geospatial analysis","level":2,"score":0.47049999237060547},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.414000004529953},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4077000021934509},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.39259999990463257},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.3677999973297119},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3359000086784363},{"id":"https://openalex.org/C2987395694","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Feature tracking","level":3,"score":0.32910001277923584},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.328900009393692},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.3240000009536743},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.32030001282691956},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.29600000381469727},{"id":"https://openalex.org/C181672929","wikidata":"https://www.wikidata.org/wiki/Q4115141","display_name":"Digital mapping","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2694000005722046},{"id":"https://openalex.org/C2778102629","wikidata":"https://www.wikidata.org/wiki/Q725252","display_name":"Satellite imagery","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C2987819851","wikidata":"https://www.wikidata.org/wiki/Q191839","display_name":"Aerial imagery","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C117455697","wikidata":"https://www.wikidata.org/wiki/Q190149","display_name":"Photogrammetry","level":2,"score":0.26030001044273376},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.2563999891281128},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2511.06152","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.06152","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2511.06152","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.06152","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Climate action","score":0.4158998131752014,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Real-time":[0],"processing":[1,27,61],"of":[2,41,153,167,185],"UAV":[3,85,112,146],"imagery":[4,29,86],"is":[5,191],"crucial":[6],"for":[7,66,128,157,193,210],"applications":[8],"requiring":[9],"urgent":[10],"geospatial":[11],"information,":[12],"such":[13],"as":[14],"disaster":[15,211],"response,":[16,212],"where":[17],"rapid":[18,151],"decision-making":[19],"and":[20,45,105,115,132,215,233],"accurate":[21],"spatial":[22,126],"data":[23,114],"are":[24,140],"essential.":[25],"However,":[26],"high-resolution":[28],"in":[30,142,207,243],"real":[31,143,208],"time":[32,144,209],"presents":[33],"significant":[34],"challenges":[35],"due":[36],"to":[37,163],"the":[38,150,176,183,197,227],"computational":[39],"demands":[40],"feature":[42,130],"extraction,":[43],"matching,":[44],"bundle":[46,241],"adjustment":[47,242],"(BA).":[48],"Conventional":[49],"BA":[50,78],"methods":[51],"either":[52],"downsample":[53],"images,":[54,169],"sacrificing":[55],"important":[56],"details,":[57],"or":[58],"require":[59],"extensive":[60],"time,":[62],"making":[63],"them":[64,108],"unsuitable":[65],"time-critical":[67],"missions.":[68],"To":[69],"overcome":[70],"these":[71],"limitations,":[72],"we":[73],"propose":[74],"a":[75,116,164],"novel":[76],"real-time":[77,179],"framework":[79],"that":[80,226],"operates":[81],"directly":[82],"on":[83,219],"fullresolution":[84],"without":[87,247],"downsampling.":[88],"Our":[89],"lightweight,":[90],"onboard-compatible":[91],"approach":[92],"divides":[93],"each":[94],"image":[95],"into":[96,196],"user-defined":[97],"patches":[98],"(e.g.,":[99],"NxN":[100],"grids,":[101],"default":[102],"150x150":[103],"pixels)":[104],"dynamically":[106],"tracks":[107],"across":[109,236],"frames":[110],"using":[111,145],"GNSS/IMU":[113],"coarse,":[117],"globally":[118],"available":[119],"digital":[120],"surface":[121],"model":[122],"(DSM).":[123],"This":[124],"ensures":[125],"consistency":[127],"robust":[129],"extraction":[131],"matching":[133],"between":[134,138],"patches.":[135],"Overlapping":[136],"relationships":[137],"images":[139,156,224],"determined":[141],"navigation":[147],"system,":[148],"enabling":[149],"selection":[152],"relevant":[154],"neighbouring":[155],"localized":[158],"BA.":[159,187],"By":[160],"limiting":[161],"optimization":[162],"sliding":[165],"cluster":[166],"overlapping":[168],"including":[170],"those":[171],"from":[172],"adjacent":[173],"flight":[174],"strips,":[175,238],"method":[177,228],"achieves":[178],"performance":[180],"while":[181],"preserving":[182],"accuracy":[184],"global":[186],"The":[188],"proposed":[189],"algorithm":[190],"designed":[192],"seamless":[194],"integration":[195],"DLR":[198],"Modular":[199],"Aerial":[200],"Camera":[201],"System":[202],"(MACS),":[203],"supporting":[204],"largearea":[205],"mapping":[206,235],"infrastructure":[213],"monitoring,":[214],"coastal":[216],"protection.":[217],"Validation":[218],"MACS":[220],"datasets":[221],"with":[222],"50MP":[223],"demonstrates":[225],"maintains":[229],"precise":[230],"camera":[231],"orientations":[232],"high-fidelity":[234],"multiple":[237],"running":[239],"full":[240],"under":[244],"2":[245],"seconds":[246],"GPU":[248],"acceleration.":[249]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-12T00:00:00"}
