International Journal of Computer Vision

, Volume 81, Issue 2, pp 128–137 | Cite as

Drift-Free Real-Time Sequential Mosaicing

  • Javier Civera
  • Andrew J. Davison
  • Juan A. Magallón
  • J. M. M. Montiel
Article
First Online:
Received:
Accepted:

Abstract

We present a sequential mosaicing algorithm for a calibrated rotating camera which can for the first time build drift-free, consistent spherical mosaics in real-time, automatically and seamlessly even when previously viewed parts of the scene are re-visited. Our mosaic is composed of elastic triangular tiles attached to a backbone map of feature directions over the unit sphere built using a sequential EKF SLAM (Extend Kalman Filter Simultaneous Localization And Mapping) approach.

This method represents a significant advance on previous mosaicing techniques which either require off-line optimization or which work in real-time but use local alignment of nearby images and ultimately drift. We demonstrate the system’s real-time performance with real-time mosaicing results from sequences with 360 degrees pan. The system shows good global mosaicing ability despite the challenging conditions: hand-held simple low-resolution webcam, varying natural outdoor illumination, and people moving in the scene.

Keywords

Video mosaicing Real-time mosaicing SLAM 
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Copyright information

© Springer Science+Business Media, LLC 2008

Authors and Affiliations

  • Javier Civera
    • 1
  • Andrew J. Davison
    • 2
  • Juan A. Magallón
    • 1
  • J. M. M. Montiel
    • 1
  1. 1.Instituto de Investigación en Ingeniería de Aragón (I3A)Universidad de ZaragozaZaragozaSpain
  2. 2.Imperial College LondonLondonUK

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