Drift-Free Real-Time Sequential Mosaicing

被引：0

作者：

Javier Civera

Andrew J. Davison

Juan A. Magallón

J. M. M. Montiel

机构：

[1] Universidad de Zaragoza,Instituto de Investigación en Ingeniería de Aragón (I3A)

[2] Imperial College London,undefined

来源：

International Journal of Computer Vision | 2009年 / 81卷

关键词：

Video mosaicing; Real-time mosaicing; SLAM;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

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.

引用

页码：128 / 137

页数：9

共 18 条

[1]

de Agapito L.(2001)Self-calibration of rotating and zooming cameras IJCV 45 107-127

[2]

Hayman E.(1999)Adaptive mobile robot navigation and mapping International Journal of Robotics Research 18 650-668

[3]

Reid I. A.(2006)Real-time mosaic using sequential graph Journal of Electronic Imaging 15 47-63

[4]

Feder H.(1995)Real-time video mosaicking of the ocean floor IEEE Journal of Oceanic Engineering 20 229-241

[5]

Leonard J.(1997)Algorithm 772: Stripack: Delaunay triangulation and Voronoi diagram on the surface of a sphere ACM Transactions on Mathematical Software 23 416-434

[6]

Smith C.(1986)On the representation and estimation of spatial uncertainty International Journal Robotics Research 5 56-68

[7]

Kim D.(2006)Fast construction of dynamic and multi-resolution 360° panoramas from video sequences Image and Vision Computing 24 13-26

[8]

Hong K.(undefined)undefined undefined undefined undefined-undefined

[9]

Marks R.(undefined)undefined undefined undefined undefined-undefined

[10]

Rock S.(undefined)undefined undefined undefined undefined-undefined

← 1 2 →