Abstract
Global robotic vision on large-scale workspaces frequently requires the composition of data from different or moving sensors. We propose a method for constructing accurate panoramic images of a robotic workspace from standard 2D images by estimating the trajectory of a moving camera. Utilizing the camera’s trajectory directly yields the positional homographies into the panoramic image, without the need to extract features and works even in the presence of zero overlap. Finally, we evaluate the overall performance of the panoramic vision approach in combination with a robotic setup on a flat work plane.
This work was accomplished within the Lighthouse project supported by the Austrian Institute of Technology (AIT).
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Mitteramskogler, J.J., Widmoser, F., Ikeda, M., Pichler, A. (2024). Homography-Based Industrial Image Stitching. In: Secchi, C., Marconi, L. (eds) European Robotics Forum 2024. ERF 2024. Springer Proceedings in Advanced Robotics, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-031-76424-0_4
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DOI: https://doi.org/10.1007/978-3-031-76424-0_4
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