Color image panorama using orientation tracking

For this project, the dataset was collected using a plate mounted with a camera and a 6-DOF IMU. The plate was rotated in place and the data stream was recorded. Ground in terms of angular pose of the plate was provided using a VICON motion capture system. An Unscented Kalman filter was used to track roll pitch and yaw of the plate from IMU data. Based on the estimated pose, the camera frames were projected onto a big blank canvas to create a panorama.

The project report in the 'info' folder gives more details about the implementation.

![panorama] (panorama.jpg)

A video of the panorama being created is available at http://www.youtube.com/watch?feature=player_detailpage&v=KxkIF6efAJA#t=37