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Sensors 2018, 18(7), 2284;

Optimal Camera Pose and Placement Configuration for Maximum Field-of-View Video Stitching

Department of Electrical and Computer Engineering, University of Wisconsin—Madison, 1415 Engineering Dr, Madison, WI 53706, USA
Department of Biomedical Engineering, University of Wisconsin—Madison,1550 Engineering Dr, Madison, WI 53706, USA
Department of Ophthalmology and Visual Sciences, University of Wisconsin—Madison, 2828 Marshall Ct, Suite 200 Madison, WI 53706, USA
Author to whom correspondence should be addressed.
Received: 6 June 2018 / Revised: 11 July 2018 / Accepted: 11 July 2018 / Published: 14 July 2018
(This article belongs to the Section Sensor Networks)
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An optimal camera placement problem is investigated. The objective is to maximize the area of the field of view (FoV) of a stitched video obtained by stitching video streams from an array of cameras. The positions and poses of these cameras are restricted to a given set of selections. The camera array is designed to be placed inside the abdomen to support minimally invasive laparoscopic surgery. Hence, a few non-traditional requirements/constraints are imposed: Adjacent views are required to overlap to support image registration for seamless video stitching. The resulting effective FoV should be a contiguous region without any holes and should be a convex polygon. With these requirements, traditional camera placement algorithms cannot be directly applied to solve this problem. In this work, we show the complexity of this problem grows exponentially as a function of the problem size, and then present a greedy polynomial time heuristic solution that approximates well to the globally optimal solution. We present a new approach to directly evaluate the combined coverage area (area of FoV) as the union of a set of quadrilaterals. We also propose a graph-based approach to ensure the stitching requirement (overlap between adjacent views) is satisfied. We present a method to find a convex polygon with maximum area from a given polygon. Several design examples show that the proposed algorithm can achieve larger FoV area while using much less computing time. View Full-Text
Keywords: optimal camera placement; sensor planning; image stitching optimal camera placement; sensor planning; image stitching

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Watras, A.J.; Kim, J.-J.; Liu, H.; Hu, Y.H.; Jiang, H. Optimal Camera Pose and Placement Configuration for Maximum Field-of-View Video Stitching. Sensors 2018, 18, 2284.

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