IMU-aided image registration

A system comprising:

• an imager device disposed on a moving body;
• an inertial measurement unit (IMU) disposed on the moving body;
• one or more processors;
• and
• computer-readable memory encoded with instructions that, when executed by the one or more processors, cause the system to:
• receive first image data that is captured at a first time by the imager device;
• receive second image data that is captured by the imager device at a second time that is subsequent to the first time;
• receive inertial measurement data sensed by the IMU, the inertial measurement data corresponding to sensed motion of the moving body between the first time and the second time;
• register the first image data to the second image data based on the received inertial measurement data to produce first registered image data;
• in response to identifying that image features are common to both the first registered image data and the second image data:
• register the first registered image data to the second image data based on the identified features that are common to both the first registered image data and the second image data to produce second registered image data;
• and
• output the second registered image data as output registered image data;
• and
• output the first registered image data as the output registered image data in response to determining that no image features are common to both the first registered image data and the second image data;
• identify a target within the second image data and the output registered image data;
• determine a line-of-sight vector from the imager device to the target based on pixel locations of the identified target within the second image data and the output registered image data;
• and
• output guidance and control commands configured to modify a trajectory of the moving body based on the line-of-sight vector.