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

Algorithm 2

Algorithm for determining pan angles for panoramic image acquisition.

Input: A set of tilt angles , horizontal FoV , horizontal overlap threshold

Output: sets of pan angles for panoramic image acquisition.

1: function PANANGLEDETERMINATION ()

2:  forβ in do

3:   

4:   °

5:    ⟵ Image with angles (α, β)

6:   for in do

7:     ⟵ Image with angles (α₂, β)

8:     ⟵ overlap between and

9:   end for

10:   

11:   

12:    all pan angles for tilt angle β

13:  end for

14:  return

15: end function