Panorama Stitching for Vision Localization Using Overlapping Area Weighted Image Plane Projection and Dynamic Programming
Date Issued
2012
Date
2012
Author(s)
C.S.Chew, Victor
Abstract
This thesis presents a panorama stitching system using only one single capturing device to capture 360° scenery of the surrounding environment to create an environment map for the uses of vision localization. Basically, there are mainly three parts in the panorama stitching system, consisting of overlapping area estimation, image plane projection, and image stitching. Instead of assuming that the overlapping area is kept constant for every two adjacent images, the overlapping area is estimated and further refined by using matched SURF feature pairs. By doing this, the dependency of the system on capturing device setup and its motion model estimation can be reduced, thus resulting it to become a more robust system. To consider an environment with highly symmetric or repeated features, the regional SURF feature detection is applied to lower down the fault error during SURF feature matching. To reduce distortion within the resulting panorama image, the overlapping area weighted image plane projection is used to successfully create a panorama image. Furthermore, to prevent ghost effect during stitching panorama image, the dynamic programming algorithm is used to find an optimal path to stitch two adjacent images. The proposed algorithm has been tested at indoor and outdoor environments. Related qualitative and quantitative results will be analyzed in detail.
Subjects
Panorama stitching
environment map
vision localization
SURF feature
image plane projection
dynamic programming
Type
thesis
File(s)![Thumbnail Image]()
Loading...
Name
ntu-101-R99921081-1.pdf
Size
23.32 KB
Format
Adobe PDF
Checksum
(MD5):5e2c3296cdb9a87e10fa30f69f0ebdfa