Creating full view panoramic image mosaics and environment maps
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Automated Mosaics via Topology Inference
IEEE Computer Graphics and Applications
Mosaic based representations of video sequences and their applications
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Registration of Highly-Oblique and Zoomed in Aerial Video to Reference Imagery
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 4
Registration of Video to Geo-Referenced Imagery
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 2 - Volume 2
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Miniature Aerial Vehicles (MAVs) are quickly gaining acceptance as a platform for performing remote sensing. However, because MAVs are flown close to the ground (300 meters or less in altitude), their field of view for any one image is relatively small. In addition, the context of the video (where and at what orientation are the objects being observed, the relationship between images) is unclear from any one image. To overcome these problems, we propose a geo-referenced mosaicing method that creates a mosaic from the captured images and geo-references the mosaic using information from the MAV IMU/GPS unit. Our method utilizes bundle adjustment within a constrained optimization framework. Using real MAV video, we have demonstrated our mosaic creation process on over 700 frames. Our method has been shown to produce the high quality mosaics to within 7m using tightly synchronized MAV telemetry data and to within 30m using only GPS information (i.e. no roll and pitch information).