Image Mosaicing using Cylindrical Mapping

Abstract

The objective of this paper is to provide extended field of view for aerial surveillance in MAV’s. Aerial surveillance on unmanned flying vehicles using a single monocular camera is a trade-off between the level of detail obtained at low altitudes and degree of coverage obtained by flying the vehicle at high altitudes. The effective footprint of the camera is smaller if the aerial vehicle flies at higher altitudes. On the other hand, the region can be quickly searched from a higher altitude. The demand for high detail and wider coverage can be satisfied using Image Mosaicing i.e. the stitching of selected frames of a video by estimating the camera motion between the frames and thereby registering successive frames of the video to arrive at the mosaic.