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

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          Abstract

          The real world is made up of multiplanar and curved surfaces. Imaging such surfaces with an orthographic view using a handheld camera is tiring if the scene encompasses a view larger than the camera field of view. If the scene is geographically beyond the reach of humans, or access to the scene is denied, it is not possible to take such a frontal view of the scene from handheld devices. The advent of inexpensive flying vehicles such as quadcopters enables the orthographic imaging of large surfaces for later analysis either for leisure or serious scientific purposes. However, manual navigation of the quadcopter around such surfaces is tedious and results are not satisfactory. In this paper, the authors present a method for autonomous navigation of a quadcopter for imaging multiplanar surfaces. The proposed method builds on the existing parallel tracking and mapping based approach to create an approximate sparse three-dimensional map of the input scene. Next, the authors determine precise locations for obtaining videos for each bounded plane, and then autonomously manoeuver the quadcopter at these waypoints. This results in an end-to-end application for visualising scenes with an off-the-shelf quadcopter.

          Most cited references7

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          Automatic Panoramic Image Stitching using Invariant Features

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            Computer Methods for Creating Photomosaics

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              Adaptive Techniques for Photomosaicking

              Milgram (1977)
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                Author and article information

                Contributors
                Journal
                IET-CSR
                IET Cyber-systems and Robotics
                IET Cyber-syst. Robot.
                The Institution of Engineering and Technology
                2631-6315
                11 November 2019
                9 December 2019
                December 2019
                : 1
                : 3
                : 81-92
                Affiliations
                [1 ] Department of Computer Science and Engineering, IIT Bombay, India
                [2 ] Robotics Institute, Carnegie Mellon University, PA 15213, USA
                Article
                IET-CSR.2019.0016 CSR.2019.0016.R2
                10.1049/iet-csr.2019.0016
                8fa89e78-26f4-41d7-ab27-716f19d88d2c

                This is an open access article published by the IET and Zhejiang University Press under the Creative Commons Attribution License ( http://creativecommons.org/licenses/by/3.0/)

                History
                : 4 May 2019
                : 22 September 2019
                : 14 October 2019
                Page count
                Pages: 0
                Categories
                Research Article

                Software engineering,Data structures & Algorithms,Robotics,Networking & Internet architecture,Artificial intelligence,Human-computer-interaction
                helicopters,data visualisation,mobile robots,image reconstruction,multiplanar surface,image sensors,autonomous aerial vehicles,optimisation,mosaic,cameras,visualising scenes,handheld devices,mosaicing,multiplanar regions,frontal view,autonomous navigation,camera field,off-the-shelf quadcopter,orthographic view,handheld camera,input scene,imaging multiplanar surfaces,medical image processing,image sequences,manual navigation

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