UAV-Based Gigapixel Panoramic Image Acquisition Planning with Ray Casting-Based Overlap Constraints

Figure 5

Panorama stitching result from the field case. (a) Proposed plan of Scenario 1. (b) HDRpano plan of Scenario 1. (c) Proposed plan of Scenario 2. (d) HDRpano plan of Scenario 2. (e) Proposed plan of Scenario 3.

(a)

(b)

(c)

(d)

(e)