2D image mosaic building 2D3 - Ifremer

Deliverable N° 2D3
Report on image mosaic building
Project Exocet/D page 3/16
TABLE OF CONTENTS
1. INTRODUCTION ..............................................................................................................................4
2. WHAT IS A GEO-REFERENCED VIDEO MOSAIC?......................................................................4
3. MOSAICING ALGORITHMS............................................................................................................5
3.1. KLT algorithm ...........................................................................................................5
3.1.1. Principle ............................................................................................................5
3.1.2. Algorithm description ........................................................................................6
3.1.2.1. Detection of point features............................................................................6
3.1.2.2. Tracking of features ......................................................................................6
3.1.2.3. Global displacement computation by least square method ..........................7
3.2. RMR algorithm..........................................................................................................7
3.2.1. Principle ............................................................................................................7
3.2.2. Algorithm description ........................................................................................8
3.2.2.1. Model of motion ............................................................................................8
3.2.2.2. Robust estimation .........................................................................................8
3.3. Metric conversion - camera self-calibration ..............................................................9
3.3.1. Extraction and matching of points...................................................................10
3.3.2. Scene geometry..............................................................................................10
3.3.3. Points validation..............................................................................................10
3.3.4. Intrinsic parameters estimation.......................................................................11
3.3.5. Extrinsic parameters estimation......................................................................11
3.4. Experiments............................................................................................................11
3.5. Fusion with navigation data ....................................................................................12
4. MATISSE SOFTWARE® .............................................................................................................. 14
4.1. General architecture ...............................................................................................14
4.2. User interface .........................................................................................................15
5. CONCLUSION .............................................................................................................................. 15
6. BIBLIOGRAPHY ........................................................................................................................... 16
DOP/CM/SM/PRAO/06.224
Grade : 1.0 27/09/2006