Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
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This paper describes how to provide an inexpensive capability that automatically captures, time-stamps, and georectifies single and 360 degree-panoramic eye-level imagery while the image-taker freely moves around the environment. These same images readily overlay all virtual maps as icons to create photo-trails that can be queried, sorted, and expanded to help support planning for a variety of commercial, industrial, and military purposes.