Orthophoto-Based Camera Localization in 5-DoFMihajlovska, Ina (Avtor) Skočaj, Danijel (Mentor) Dobrevski, Matej (Komentor) UAV localizationdigital orthophotoSIFTRANSAChomographycamera poseThis thesis investigates five-degree-of-freedom camera localization relative to a georeferenced digital orthophoto (DOP). Scale-Invariant Feature Transform (SIFT) keypoints are detected in the perspective UAV image and the DOP. Their descriptors are compared by Euclidean distance and filtered with Lowe's ratio test. Each matched DOP pixel is converted to horizontal metric coordinates (X, Y) using the raster scale. Because surface elevation is unavailable, all map points are approximated by a common reference plane Z = 0. Within RANSAC, each homography hypothesis is computed from six randomly selected keypoint correspondences and scored by reprojection error over all retained matches. The winning homography is re-estimated from all inliers and decomposed with the calibrated intrinsic matrix to obtain a plane-relative camera transform. Only [Xc, Yc, roll, pitch, yaw] is reported. Across 60 selected regular-domain samples from the OrthoLoC dataset, the mean absolute error (MAE) is 4.13 m in x, 5.40 m in y, 2.12° in roll, 2.58° in pitch, and 0.16° in yaw. The results show that DOP-only localization is feasible, while the larger horizontal, roll, and pitch errors expose the limitations of replacing real surface relief with a single plane.20262026-09-15 16:55:03Diplomsko delo/naloga187863VisID: 39055sl