This paper presents the framework for the creation of hyper resolution image mosaics (HRIM) with a full horizontal and unbounded vertical field of view. Additionally, the hyper-resolution images are mapped to a format compatible with a geo referencing frame. In this manner the images can be viewed using standard mapping services. The measurement device consists of eight cameras covering the full 360 degree horizontal field. The unlimited vertical field of view is obtained by moving the device, e.g., by sinking it down a mine shaft. The cameras are synchronized so that with each frame the full horizontal field of view is captured. The camera sensors are calibrated to an onboard inertial measurement unit (IMU) which allows the reconstruction of the position of each sensor in a world coordinate frame for each captured image using rigid transformations. Perspective projection onto an open manifold (cylinder) allows for the integration of all images into an HRIM. Constrained tensor-polynomial approximations are used to obtain geometric maps, i.e., a distortion lattice, from the image coordinate system onto an open cylindrical manifold. From this lattice binary masks are derived for each projected image. A multi band blending algorithm is implemented for the final composition. The HRIM are then tiled and stored on a GIS mapping server from where the HRIM can be viewed on any device running an HTML browser. It should be noted that this approach provides a significant advantage since viewing the large HRIM is not computationally intensive and can even be done on tablets. The framework has been applied to the remote inspection of deep vertical shafts.

本文介绍了创建具有完整水平和无边界垂直视场的超分辨率图像镶嵌（HRIM）的框架。另外，超分辨率图像被映射为与地理参考框架兼容的格式。通过这种方式，可以使用标准地图服务查看图像。测量设备由八台摄像机组成，覆盖了整个360度水平场。通过移动设备（例如，将其下沉到矿井中）获得无限的垂直视场。摄像机是同步的，因此每一帧都可以捕获整个水平视场。相机传感器被校准到车载惯性测量单元（IMU），该惯性测量单元允许使用刚性变换针对每个捕获的图像重建每个传感器在世界坐标系中的位置。透视投影到开放式歧管（圆柱体）上可以将所有图像集成到HRIM中。约束张量多项式逼近用于从图像坐标系到开放的圆柱流形上获得几何图，即变形格。从该格中，为每个投影图像导出二进制掩码。为最终合成实现了多频段混合算法。然后，将HRIM平铺并存储在GIS映射服务器上，从中可以在运行HTML浏览器的任何设备上查看HRIM。应该注意的是，这种方法具有显着的优势，因为查看大型HRIM不需要大量的计算，甚至可以在平板电脑上完成。该框架已应用于深垂直井筒的远程检查。