OrthoTrack: Continuous 6-DoF UAV Trajectory Estimation Anchored in Public Orthophotos
Continuous 6-DoF pose estimation is essential for autonomous UAV operations. Yet, existing visual odometry and SLAM methods accumulate drift and yield only relative, up-to-scale trajectories. Single-frame geo-localization, in turn, discards temporal continuity and remains too slow for real-time use. We present OrthoTrack, a training-free system that estimates continuous 6-DoF UAV trajectories using only publicly available orthophotos and surface models as a map prior. OrthoTrack matches keyframes against the orthophoto and lifts correspondences to metric 3D via the surface model. It then propagates these map-anchored correspondences to intermediate frames with optical flow, producing abso...
| Authors | Oussema Dhaouadi, Zuria Bauer, Johannes Michael Meier et al. |
|---|---|
| Primary category | cs.CV |
| Published | 24 June 2026 |
| Last updated at source | 28 June 2026 |
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