STITCHING LARGE MAPS FROM VIDEOS TAKEN BY A CAMERA MOVING CLOSE OVER A PLANE USING HOMOGRAPHY DECOMPOSITION
For applications such as underwater monitoring a platform with a camera will be moving close to a large roughly planar scene. The idea to map the scene by stitching a panorama using planar homographies is nearby. However, serious problems occur with drift caused by uncertainty in the estimation of t...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2013-04-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XXXVIII-3-W22/125/2011/isprsarchives-XXXVIII-3-W22-125-2011.pdf |
| Summary: | For applications such as underwater monitoring a platform with a camera will be moving close to a large roughly planar scene. The
idea to map the scene by stitching a panorama using planar homographies is nearby. However, serious problems occur with drift
caused by uncertainty in the estimation of the matrices and un-modelled lens distortions. Sooner or later image points will be
mapped to infinity. Instead this contribution recommends using the homographies only for the composition of local patches. Then
the homography obtained between the first and the last frame in such patch can be decomposed giving an estimate of the surface
normal. Thus the patches can be rectified and finally stitched into a global panorama using only shift in <i>x</i> and <i>y</i>. The paper reports
about experiments carried out preliminarily with a video taken on dry ground but a first under water video has also been processed. |
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| ISSN: | 1682-1750 2194-9034 |