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- Title
Drift-Free Real-Time Sequential Mosaicing.
- Authors
Civera, Javier; Davison, Andrew; Magallón, Juan; Montiel, J.
- 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.
- Subjects
SLAM (Computer program language); KALMAN filtering; CONTROL theory (Engineering); COMPUTER vision; STOCHASTIC processes; WEBCAMS
- Publication
International Journal of Computer Vision, 2009, Vol 81, Issue 2, p128
- ISSN
0920-5691
- Publication type
Article
- DOI
10.1007/s11263-008-0129-5