Abstract
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.
This method represents a significant advance on previous mosaicing techniques which either require off-line optimization or which work in real-time but use local alignment of nearby images and ultimately drift. We demonstrate the system’s real-time performance with real-time mosaicing results from sequences with 360 degrees pan. The system shows good global mosaicing ability despite the challenging conditions: hand-held simple low-resolution webcam, varying natural outdoor illumination, and people moving in the scene.
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Civera, J., Davison, A.J., Magallón, J.A. et al. Drift-Free Real-Time Sequential Mosaicing. Int J Comput Vis 81, 128–137 (2009). https://doi.org/10.1007/s11263-008-0129-5
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DOI: https://doi.org/10.1007/s11263-008-0129-5