Detecting structural transitions in continuous visual data streams is a foundational challenge in online video analytics, particularly when the underlying physical process exhibits long periods of repetitive behavior punctuated by brief but critical inflection events. This paper introduces a principled framework for inflection point detection in streaming aerial imagery, motivated by the practical requirement of identifying the four corner events in a drone’s rectangular survey flight path using only the video stream itself, without reliance on GPS, IMU, or external telemetry. The problem is challenging because the majority of the flight consists of highly repetitive, low variation frames captured along straight edges of the rectangle, while the corner events—though visually distinct—occur over a short temporal span and must be detected with 100% recall to ensure the integrity of downstream spatial reasoning tasks such as survey tiling, mosaic alignment, and trajectory reconstruction.

We propose an online clustering and evolution analysis framework inspired by the principles of Ocean (ICDE 2024), which models the streaming feature space using a composite window and tracks the lifecycle of evolving clusters representing stable orientation regimes of the drone. Each frame is transformed into a compact orientation–motion embedding, derived from optical flow based dominant motion direction, homography based rotation cues, and low dimensional CNN features capturing scene layout stability. These embeddings form a continuous stream over which we maintain a set of micro clusters that summarize local density, cohesion, and temporal persistence. The straight line segments of the flight correspond to long lived, high cohesion clusters with stable centroids and minimal drift, while the corners manifest as abrupt transitions in cluster membership, density, and orientation statistics. We formalize these transitions as cluster lifetime inflection points, defined by a conjunction of (i) a sharp change in the dominant orientation component, (ii) a rapid decay in the density of the current cluster, and (iii) the emergence of a new cluster with increasing density and decreasing intra cluster variance.

A key contribution of this work is a thresholding strategy that differentiates true corner events from background repetitive conformance. By modeling the temporal evolution of cluster statistics within a sliding composite window, we derive adaptive thresholds that remain robust to noise, illumination changes, and minor camera jitter while guaranteeing that any genuine orientation transition exceeding a minimal angular displacement is detected. We prove that under mild assumptions about the smoothness of motion along straight edges and the bounded duration of corner rotations, the proposed method achieves perfect recall of all four corners. Extensive conceptual analysis demonstrates that even if the drone’s speed varies, the camera experiences minor vibrations, or the rectangular path is imperfectly executed, the cluster lifetime inflection signature remains uniquely identifiable.

This framework provides a generalizable foundation for online structural change detection in video streams, applicable beyond drone navigation to domains such as autonomous driving, robotic inspection, and surveillance analytics. The corner detection use case serves as a concrete and rigorous anchor for the methodology, ensuring that the proposed approach is both theoretically grounded and practically verifiable. The resulting system is capable of selecting the exact frames corresponding to the four corners from the continuous first person video stream, even when the full tiling of the survey area is not attempted, thereby satisfying the validation requirements of real world aerial analytics pipelines.