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

Algorithm 1

Algorithm for determining tilt angles for panoramic image acquisition.

Input: vertical FoV , vertical overlap threshold

Output: A set of tilt angles for panoramic image acquisition.

1: function TILTANGLEDETERMINATION ()

2:  

3:  °

4:   ⟵ Image with angles (0°, β)

5:  whileβ<90° do

6:   forβ₂ in do

7:     ⟵ Image with angles (0°, β₂)

8:     ⟵ overlap between and

9:   end for

10:   

11:   

12:  end while

13:  return

14: end function