On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Creating full view panoramic image mosaics and environment maps
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Algorithm 772: STRIPACK: Delaunay triangulation and Voronoi diagram on the surface of a sphere
ACM Transactions on Mathematical Software (TOMS)
Self-Calibration of Rotating and Zooming Cameras
International Journal of Computer Vision
Mobile Robot Localization and Map Building: A Multisensor Fusion Approach
Mobile Robot Localization and Map Building: A Multisensor Fusion Approach
Robust Video Mosaicing through Topology Inference and Local to Global Alignment
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Mobile Robot Localisation Using Active Vision
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Sensor Influence in the Performance of Simultaneous Mobile Robot Localization and Map Building
The Sixth International Symposium on Experimental Robotics VI
Fast 3D Stabilization and Mosaic Construction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Automatic Mosaicing with Super-Resolution Zoom
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
High resolution terrain mapping using low altitude aerial stereo imagery
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Fast construction of dynamic and multi-resolution 360° panoramas from video sequences
Image and Vision Computing
Inverse Depth Parametrization for Monocular SLAM
IEEE Transactions on Robotics
Exploiting distinctive visual landmark maps in pan-tilt-zoom camera networks
Computer Vision and Image Understanding
Real-time spherical mosaicing using whole image alignment
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Reconstructing partially visible models using stereo vision, structured light, and the g2o framework
Proceedings of the 27th Conference on Image and Vision Computing New Zealand
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We present a sequential mosaicing algorithm for a calibrated rotating camera which can for the first time build drift-free, consistent spherical mosaics in real-time, automatically and seamlessly even when previously viewed parts of the scene are re-visited. Our mosaic is composed of elastic triangular tiles attached to a backbone map of feature directions over the unit sphere built using a sequential EKF SLAM (Extend Kalman Filter Simultaneous Localization And Mapping) approach.This method represents a significant advance on previous mosaicing techniques which either require off-line optimization or which work in real-time but use local alignment of nearby images and ultimately drift. We demonstrate the system's real-time performance with real-time mosaicing results from sequences with 360 degrees pan. The system shows good global mosaicing ability despite the challenging conditions: hand-held simple low-resolution webcam, varying natural outdoor illumination, and people moving in the scene.