Generación eficiente de mosaicos para inspección de infraestructuras lineales mediante robots aéreos

This paper presents a mosaicking generation method using images captured by aerial robots for linear infrastructure inspection applications. The method has been designed using the problem hypotheses in order to reduce its computational cost, keeping its precise and robust performance. Particularly, it uses the rectilinear flight hypothesis and the estimation of the displacement between consecutive images to select regions of interest avoiding to detect and match features in the whole image, also reducing the outliers and, therefore, simplifying the optimization for calculating the transformation between images. The method has been validated experimentally on gas pipeline inspection missions with aerial robots.