Abstract
The aim of this paper is to develop an algorithm for mosaicing a sequence of panoramic images of the pipeline inner surface obtained by an inspection robot that is equipped by an omnidirectional camera. This camera is a combination of a regular camera and an axially symmetric hyperbolic mirror. The construction of the robot (see Fig. 1) enabled us to take and store a sequence of images of the inner pipeline surface under the viewing angle 25°–106° from the camera optical axis and 360° around this axis. Since the axes of pipeline and camera were not identical, each picture was considerably deformed.
Photo and the associated schematic illustration of the inspection robot; a — glass tube, b — panoramic hyperbolic mirror, c — camera, d — light bulb, e — additional hyperbolic mirror, f — prospecting tractor of the British Company Pearpoint, g — chassis.
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Křížek, P. (2004). The Use of Bilinear Rectangular Elements in Reconstruction of Panoramic Images. In: Křížek, M., Neittaanmäki, P., Korotov, S., Glowinski, R. (eds) Conjugate Gradient Algorithms and Finite Element Methods. Scientific Computation. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18560-1_18
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DOI: https://doi.org/10.1007/978-3-642-18560-1_18
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