Homography Based Kalman Filter for Mosaic Building. Applications to UAV position estimation

• Probabilistic framework where uncertainties can be considered in the mosaic building process.

• Inter-image relations are modeled by homographies and its covariances.

• When a loop is closed, the estimation errors can be compensated and propagated to the rest of the mosaic.

• The relations among images in the mosaic can be used to localize the robot.

F. Caballero1, L. Merino2, J Ferruz1 and A. Ollero1 1 University of Seville, Seville (Spain)

2 Pablo de Olavide University, Seville (Spain)

Parking at LAAS, France.Mosaic composed by 450 images