# Learning Knowledge-Rich Sequential Model for Planar Homography Estimation in Aerial Video

arXiv: https://arxiv.org/abs/2304.02715 · HTML: https://mlsanity.com/paper/2304.02715/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 35 references that are in the map.
- First posted on arXiv 5 Apr 2023.

## Builds on (most cited first, 11 of 11)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Grad-CAM: Visual Explanations from Deep Networks via Gradient-based Localization](https://mlsanity.com/paper/1610.02391/) (2016)
- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [End-to-end Sequence Labeling via Bi-directional LSTM-CNNs-CRF](https://mlsanity.com/paper/1603.01354/) (2016)
- [Deep Image Homography Estimation](https://mlsanity.com/paper/1606.03798/) (2016)
- [Boosting Image Captioning with Attributes](https://mlsanity.com/paper/1611.01646/) (2016)
- [Unsupervised Deep Homography: A Fast and Robust Homography Estimation Model](https://mlsanity.com/paper/1709.03966/) (2017)
- [Constructing Long Short-Term Memory based Deep Recurrent Neural Networks for Large Vocabulary Speech Recognition](https://mlsanity.com/paper/1410.4281/) (2014)
- [Feature-based Recursive Observer Design for Homography Estimation](https://mlsanity.com/paper/1606.03021/) (2016)

## Abstract (arXiv)

This paper presents an unsupervised approach that leverages raw aerial videos to learn to estimate planar homographic transformation between consecutive video frames. Previous learning-based estimators work on pairs of images to estimate their planar homographic transformations but suffer from severe over-fitting issues, especially when applying over aerial videos. To address this concern, we develop a sequential estimator that directly processes a sequence of video frames and estimates their pairwise planar homographic transformations in batches. We also incorporate a set of spatial-temporal knowledge to regularize the learning of such a sequence-to-sequence model. We collect a set of challenging aerial videos and compare the proposed method to the alternative algorithms. Empirical studies suggest that our sequential model achieves significant improvement over alternative image-based methods and the knowledge-rich regularization further boosts our system performance. Our codes and dataset could be found at https://github.com/Paul-LiPu/DeepVideoHomography