A New Dynamic Programming Method for UAV

Dislocation is one of the major challenges in unmanned aerial vehicle (UAV) image 15 stitching. In this paper, we propose a new dynamic programming for seamlessly stitching UAV 16 images using optical flow. Our solution consists of two steps: Firstly, an image-matching algorithm 17 is used to correct the images so that they are in the same coordinate system. Secondly, a new 18 dynamic programming algorithm is develop based on the concept of a stereo dual-channel energy 19 accumulation using optical flow. A new energy aggregation and traversal strategy is adopted in our 20 solution, which can find a more optimal seam line for adjacent image stitching. Our algorithm 21 overcomes the theoretical limitation of the classical Duplaquet algorithm. Experiments show that 22 the algorithm can effectively solve the dislocation problem in UAV image stitching. Beyond that, 23 our solution is also direction-independent, which has more adaptability and robustness for UAV 24 images. 25