Graph-based Automatic Consistent Image Mosaicking

Consistent image mosaicking is a potentially useful tool for robot navigation and map construction. This paper presents an automatic algorithm to generate consistent image mosaicking. During the robot processing, local optimization based on the related previous images is used for every newly added image on the baseline approach view. As soon as a loop is detected, a global optimization method is activated to generate a globally consistent image mosaicking. This method is very efficient in computation and storage saving.