@MastersThesis{Krizek-MastersThesis03,
  IS = { zkontrolovano 24 Apr 2003 },
  UPDATE  = { 2003-03-13 },
  author =      { Pavel K{\v r}{\' \i }zek },
  language =    { Czech },
  title =       { Soulep panoramatick{\' y}ch sn{\' \i }mk{\accent23 u} },
  e_title =     { Mosaicing panoramic images },
  year =        { 2003 },
  pages =       { 62 },
  school =      { FEL CVUT },
  address =     { Technicka 2, 166 27, Prague, Czech Republic },
  month =       { 2 },
  day =         { 17 },
  figures =     { 52 },
  appendices =  { 1 },
  annote = { We tried to reconstruct the pipeline inner surface
texture like one ``infinite'' image unwarped into the plane by
mosaicing the sequence of the panoramic images captured by an
omnidirectional camera during sewerage system inspection. At first we
performed a~geometric correction of the mirror in the camera
image. Next, we defined nonlinear transformation for obtaining the
uniform unwarped panoramic images when the camera was parallely
displaced from the pipeline axis. To connect two neighbouring
panoramic images the correlation was used. To speed up the algorithm
we used pyramidal data structures. Since our inspection robots light
did not shine uniformly in the whole omnidirectional camera view
angle, we had to do brightness corrections before the correlation. At
first, the algorithm was developed in the laboratory on two clayware
sewerage pipes. Then it was tested in the real sewerage pipeline, when
the inspection robot covered a~distance of approximately 30 m.  },
  supervisor =  { Vladim{\' \i }r Smutn{\' y} },
  keywords =    { Omnidirectional camera, catadioptric sensor, 
                  mosaicing, panoramic images, correlation, 
                  M-pyramids, hierarchical data structures },
  project =     { IST-2001-33266, MSM 212300013, 
                  GACR 102/01/0971, CTU 0209513 },
  psurl =       { [PDF, 7.1 MB] },
}