Marco Antonio Pizani Domiciano,  Elcio Hideiti Shiguemori,  Luiz Alberto Vieira Dias,  Orlando Demétrio Zaloti Júnior. 

This work aims to present a study, in development phase, which employs aerial photography keypoints to altitude estimation from coincident points in images. It has been employed an algorithm to automatic images characteristic estimation. From flying and camera information, the elevation of the keypoints is estimated. This information is important and can be employed in UAV's autonomous navigation.

http://www.lbd.dcc.ufmg.br/colecoes/wvc/2010/0052.pdf

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