gis - How to calculate coordinates of center of image from an aerial camera whose FOV, attitude and position are given -

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i have problem involves uav flying camera mounted below it. following information provided:

  • gps location of uav in lat/long
  • gps height of uav in meters
  • attitude of uav i.e. roll, pitch, , yaw in degrees
  • field of view (fov) of camera in degrees
  • elevation of camera w.r.t uav in degrees
  • azimuth of camera w.r.t uav in degrees

i have some images taken camera during flight , task compute locations (in lat/long) of 4 corners points , center points of image image can placed on map @ proper location.

i found document while searching internet can downloaded @ following link:

http://www.siaa.asn.au/get/2411853249.pdf

my maths background weak not able translate document working solution.

can provide me solution problem in form of simple algorithm or preferable in form of code of programming language?

thanks.

as see, not related image-processing, because need determine coordinates of center of image (you not need fov). have find intersection of camera principal ray , earth surface (if i've understood task well). nothing more basic matrix math.

see wiki:transformation.


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