Fast UAV Image Mosaicking by a Triangulated Irregular Network of Bucketed Tiepoints

Abstract

To take full advantage of rapidly deployable unmanned aerial vehicles (UAVs), it is essential to effectively compose many UAV images into one observation image over a region of interest. In this paper, we propose fast image mosaicking using a triangulated irregular network (TIN) constructed from tiepoints. We conduct pairwise tiepoint extraction and rigorous bundle adjustment to generate rigorous tiepoints. We apply a bucketing algorithm to the tiepoints and generate evenly distributed tiepoints. We then construct a TIN from the bucketed tiepoints and extract seamlines for image stitching based on the TIN. Image mosaicking is completed by mapping UAV images along the seamlines onto a reference plane. The experimental results showed that the image mosaicking based on a TIN of bucketed tiepoints could produce image mosaics with stable and fast performance. We expect that our method could be used for rapid image mosaicking.