Mosaicing scenes with a quadcopter

Mosaicing of multiplanar regions through autonomous navigation of off‐the‐shelf quadcopter

“…Using the stereo disparity formula where d , f , b and Z are disparity, focal length, baseline and depth, respectively, we can ‘place’, from the first viewpoint, the image captured from the second viewpoint, thereby creating a super‐panorama. In [23], the disparity between the reference images of each mini‐panorama is calculated by using the distance between the camera and the imaging plane, i.e. the depth and the distance between camera positions of reference images for each mini‐panorama, i.e.…”

“…Prasad et al . [23] have developed an imaging application with the use of an inexpensive quadcopter. This work builds on the earlier work.…”

“…This work builds on the earlier work. In [23], the navigation of the quadcopter is assumed to be manual. As explained above, manual navigation of quadcopter is considered inelegant and inappropriate.…”

“…The lag causes delays with the controls, thus risking a crash or a flyaway where the user has no idea what the craft is doing. Further, the algorithm in [23] assumes that the scene is made up of a single planar surface.…”

“…Once images for each bounded planar region are extracted from the captured videos (Fig. 3e), the mosaic for each planar region is created using the method of creation of a mini-panorama presented in [23]. Each mini-panaroma represents one of the planar regions (e.g.…”