SMARTPIG: Simultaneous mosaicking and resectioning through planar image graphs

Submitted by grigby1 on Wed, 03/08/2017 - 1:06pm

Title	SMARTPIG: Simultaneous mosaicking and resectioning through planar image graphs
Publication Type	Conference Paper
Year of Publication	2015
Authors	Marburg, A., Hayes, M. P.
Conference Name	2015 IEEE International Conference on Robotics and Automation (ICRA)
Date Published	may
Publisher	IEEE
ISBN Number	978-1-4799-6923-4
Keywords	camera pose, Cameras, Cost function, directed graphs, fronto-parallel projections, ground control, high resolution aerial images, Image edge detection, image iterative mosaicking, image projection optimization, image segmentation, image set, inter-image alignments, inter-image projective decomposition, inter-image similarity, intrinsic camera, Iterative methods, Measurement, planar image graphs, planar surface, pubcrawl170111, robot vision, Silicon, simultaneous location and mapping, SLAM, SLAM (robots), Smartpig algorithm, Three-dimensional displays, undirected graph structure
Abstract	This paper describes Smartpig, an algorithm for the iterative mosaicking of images of a planar surface using a unique parameterization which decomposes inter-image projective warps into camera intrinsics, fronto-parallel projections, and inter-image similarities. The constraints resulting from the inter-image alignments within an image set are stored in an undirected graph structure allowing efficient optimization of image projections on the plane. Camera pose is also directly recoverable from the graph, making Smartpig a feasible solution to the problem of simultaneous location and mapping (SLAM). Smartpig is demonstrated on a set of 144 high resolution aerial images and evaluated with a number of metrics against ground control.
URL	https://ieeexplore.ieee.org/document/7140007
DOI	10.1109/ICRA.2015.7140007
Citation Key	marburg_smartpig:_2015

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Science of Security VO