Lightweight AR System for Precise Object Geolocation in Real-Time Drone Video
Resumo
This work presents a lightweight outdoor augmented reality system that enables precise georegistration of virtual objects using video and telemetry from a DJI Mavic 3T drone. The system integrates Real-Time Kinematic (RTK) positioning, multiple strategies for estimating camera orientation, and terrain modeling through a Digital Elevation Model (DEM). An interactive mechanism allows users to instantiate virtual objects by clicking on the video frame, with the ground position computed via 3D ray–DEM intersection. Field tests conducted with the drone flying at altitudes above 100 meters showed a mean positioning error below 5 meters using only the drone-exported orientation. These results highlight the system’s geometric precision under strong projection compression, supporting its use in scenarios such as long-range object annotation, search and rescue coordination, or infrastructure monitoring.
Palavras-chave:
Augmented Reality, RTK, Drone, OpenGL
Referências
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Sun Min, Liu Lei, Huang Wei, and Ren Xiang, "Interactive registration for Augmented Reality GIS," in 2012 International Conference on Computer Vision in Remote Sensing. Xiamen, China: IEEE, Dec. 2012, pp. 246–251. [Online]. Available: [link]
R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd ed. Cambridge University Press, Mar. 2004. [Online]. Available: [link]
J. Diebel, "Representing attitude: Euler angles, unit quaternions, and rotation vectors," Matrix, vol. 58, 01 2006.
K. Huang, C. Wang, and W. Shi, "Accurate and Robust Rotation-Invariant Estimation for High-Precision Outdoor AR Geo-Registration," Remote Sensing, vol. 15, no. 15, p. 3709, Jul. 2023, number: 15 Publisher: Multidisciplinary Digital Publishing Institute (MDPI) Type: Article. [Online]. Available: [link]
Q. Zhou, Q. Wang, Q. Zhong, and M. Han, "Spatial location-based outdoor mobile augmented reality 3D registration technology," in Fifth International Conference on Computer Information Science and Artificial Intelligence (CISAI 2022), Y. Zhong, Ed. vol. 12566. Chongqing, China: SPIE, Mar. 2023, p. 23, ISSN: 0277786X Type: Conference paper. [Online]. Available: [link]
L. Kong, H. Zhang, and H. Nobuhara, "Diseased Crop Removal Assistance System Using Augmented Reality and Drones," in 2021 IEEE 10th Global Conference on Consumer Electronics (GCCE), Oct. 2021, pp. 522–525, ISSN: 2378-8143. [Online]. Available: [link]
W. Li, Y. Han, Y. Liu, C. Zhu, Y. Ren, Y. Wang, and G. Chen, "Real-Time Location-Based Rendering of Urban Underground Pipelines," ISPRS International Journal of Geo-Information, vol. 7, no. 1, p. 32, Jan. 2018, number: 1. [Online]. Available: [link]
Sun Min, Liu Lei, Huang Wei, and Ren Xiang, "Interactive registration for Augmented Reality GIS," in 2012 International Conference on Computer Vision in Remote Sensing. Xiamen, China: IEEE, Dec. 2012, pp. 246–251. [Online]. Available: [link]
R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd ed. Cambridge University Press, Mar. 2004. [Online]. Available: [link]
J. Diebel, "Representing attitude: Euler angles, unit quaternions, and rotation vectors," Matrix, vol. 58, 01 2006.
Publicado
30/09/2025
Como Citar
CARVALHO, Bruno Eduardo de Oliveira; LUIZ JUNIOR, Fabio; OLIVEIRA, Jauvane Cavalcante de; ROSA, Paulo Fernando Ferreira.
Lightweight AR System for Precise Object Geolocation in Real-Time Drone Video. In: SIMPÓSIO DE REALIDADE VIRTUAL E AUMENTADA (SVR), 27. , 2025, Salvador/BA.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2025
.
p. 99-109.
