View extension for teleoperated MAV

In this paper, we propose a method to extend the field of view (FoV) of cameras mounted on Micro Aerial Vehicles (MAVs). The idea is to stitch together appropriate sections of the panorama to the camera frame. The proposed system efficiently performs view extension by fusing fast tracking and feature descriptor matching into the stitching algorithm. The quality of the extended view is further improved by refining the transformation using weighted least squares. We demonstrate the success of our system in real cases where the distance from one panorama to the next panorama is 10m.