ROS_Based_Farm_Robot

the official site of this project is 6OMVI

This repository aims at creating a ROS based farm bot that gets input from an unmaned aerial vehicle (UAV).

presently we are working on -

1) ### image mosaicing

• presently we are using opencv_contrib
• this is done in 3 parts
  • homography
  • warping
  • blending

2) ### orthogonal rectification of images

• using webODM for image rectification

• one of the two methods that can be used are:

  • ground control points (GCP) which are determined from published maps or global positioning systems (GPS).
  • digital elevation model (DEM) which are 3d representation of a terrain.

better way for rectification and stitching

We are using the SIFT (Scale Invariant Feature Transform) and SURF (Speeded-Up Ro-bust Features) algorithms to simultaneously ortho-rectify the images and also stitch them.