Creating full view panoramic image mosaics and environment maps
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Self-Calibration of Rotating and Zooming Cameras
International Journal of Computer Vision
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Fast 3D Stabilization and Mosaic Construction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Image alignment and stitching: a tutorial
Foundations and Trends® in Computer Graphics and Vision
Drift-Free Real-Time Sequential Mosaicing
International Journal of Computer Vision
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
An Efficient Direct Approach to Visual SLAM
IEEE Transactions on Robotics
Efficient Homography-Based Tracking and 3-D Reconstruction for Single-Viewpoint Sensors
IEEE Transactions on Robotics
Real-Time image alignment for a gyro-visual hybrid pointing device
ICIAR'12 Proceedings of the 9th international conference on Image Analysis and Recognition - Volume Part I
IMAF: in situ indoor modeling and annotation framework on mobile phones
Personal and Ubiquitous Computing
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When a purely rotating camera observes a general scene, overlapping views are related by a parallax-free warp which can be estimated by direct image alignment methods that iterate to optimise photoconsistency. However, building globally consistent mosaics from video has usually been tackled as an off-line task, while sequential methods suitable for real-time implementation have often suffered from long-term drift. In this paper we present a high performance real-time video mosaicing algorithm based on parallel image alignment via ESM (Efficient Second-order Minimisation) and global optimisation of a map of keyframes over the whole viewsphere.We present real-time results for drift-free camera rotation tracking and globally consistent spherical mosaicing from a variety of cameras in real scenes, demonstrating high global accuracy and the ability to track very rapid rotation while maintaining solid 30Hz operation. We also show that automatic camera calibration refinement can be straightforwardly built into our framework.