Rotation Matrix

[ussaema]

Hi thanks for your nice work.
In the paper you wrote that the extrinsics are provided. I wonder how to compute the full camera pose from the metadata. Could you please help with that?
Also what's the reason behind not reporting the translation and rotation errors, since you solve the full pose.
Thanks

[UAV-AVL]

Thank you for your interest in our work!

Regarding your questions:

1. Camera Pose Computation:
   We have provided the utility function estimate_drone_pose() in utils.py that computes the full camera pose. The function returns:

   • BLH: A dictionary containing the camera's latitude (B), longitude (L), and height (H) in world coordinates
   • cam_angle: The camera's orientation angles (may need some coordinate transformation to align with the world frame)

2. Why Not Report Translation/Rotation Errors:
   You're absolutely right that we solve for the full pose. However, the primary focus of this work was on drone localization (determining the position/Lat-Lon), rather than full 6-DoF pose estimation. Therefore, we chose to emphasize and evaluate the positional accuracy metrics that were most relevant to our core objective.