Ground Object Geo-Location using UAV Video Camera

This paper presents an approach for object localization that utilizes basic rotation matrices and camera system geometry matrices to calculate the WGS84 latitude, longitude and elevation of a cued ground object that appears within the field of view of a camera system. The calculations for obtaining the object localization are relative to the GPS position and attitude of an uninhabited aerial vehicle (UAV), as well as, the elevation of the terrain directly below the UAV. A simple model and the supporting algorithms are shown in the paper along with relevant example results from real world test cases