Real-time mosaicing of images from the quadcopter using Auto-view selection method with noise cancellation capability

Abstract

Due to the vibrations caused by the movement of the quadcopter, mosaicing of received images is not suitable and that likes take several views of one scene, that is why the Bundle Adjustment is used. "Bundle Adjustment" method is used to adjust the optical radius of the cameras and elimination of the vibration caused by the motion of the quadcopter. Due to the excess of images, their attachment would not be done in an ordinary way, because of that we use the cylindrical method. On the other hand, resolution of mosaic images is of a paramount importance. To reach the end, an auto-view selection algorithm is proposed in this paper. In the feature extraction stage (feature matching across the images), there is always some kind of noises. In order to eliminate noise, we have proposed the "Lq" method, following by the "Blending" method to remove differences of brightness between mosaic images. The final goal is to reach an image with a uniform distribution of brightness.