초록 ▼

A method for creating a 360 degree panoramic image from multiple images includes (1) computing a gross rotation error ΔR between a first image and a calculated first image rotated to be stitched to a last image, and (2) spreading the gross rotation error ΔR to each pixel on the panoramic i

A method for creating a 360 degree panoramic image from multiple images includes (1) computing a gross rotation error ΔR between a first image and a calculated first image rotated to be stitched to a last image, and (2) spreading the gross rotation error ΔR to each pixel on the panoramic image. Spreading the gross rotation error ΔR includes (1) computing a rotation angle θ0 and rotational axis n0 from the gross rotational error ΔR, (2) determining an angle α of each pixel, and (3) determining a compensation matrix Rc for each pixel using the following formula: Rc(α)=R(α/2πθ0). Spreading the gross rotation error ΔR further includes (4) tracing a pixel on the panoramic image to a camera optical center of the images to form a first ray, (5) determining a second ray originating from the camera optical center that would be rotated by the compensation matrix Rc to coincide with the first ray, (6) tracing the second ray to a second pixel on one of the images, and (7) painting the first pixel with color values of the second pixel.

대표청구항 ▼

What is claimed is: 1. A method for creating a 360 degree panoramic image from a plurality of images, comprising: arranging the images around a camera optical center and projecting the arranged images onto a cylindrical surface to generate the 360 degree panoramic image; determining a gross rotatio

What is claimed is: 1. A method for creating a 360 degree panoramic image from a plurality of images, comprising: arranging the images around a camera optical center and projecting the arranged images onto a cylindrical surface to generate the 360 degree panoramic image; determining a gross rotation error ΔR between a first image and a last image from the arranged images, wherein the gross rotation error ΔR is a rotation necessary to rotate the first image to match the last image; and dividing the gross rotation error ΔR among all columns of pixels in the 360 degree panoramic image, comprising: for each column, determining a compensation matrix Rc for the column using a rotation angle θ0 and rotation axis n0 of the gross rotation error ΔR, and a rotation angle α of the column; and for each pixel in each column, replacing the pixel with a corresponding pixel identified by the compensation matrix Rc for the column. 2. The method of claim 1, wherein said determining a compensation matrix Rc for the column comprises using the following formula: where the rotation axis n0 is [n1, n2, n3]T. 3. The method of claim 2, further comprising using a plurality of relative rotation matrices between adjacent images from the arranged images to calculated the rotation angle θ0 and the rotation axis n0. 4. The method of claim 2, wherein said replacing the pixel with a corresponding pixel comprises: tracing the pixel in the column on the 360 degree panoramic image to the camera optical center of the arranged images to form a first ray; determining a second ray originating from the camera optical center that would be rotated by the compensation matrix Rc to coincide with the first ray; and tracing the second ray to an intersection with the corresponding pixel on one of the arranged images; and painting the pixel with color values of the corresponding pixel. 5. A method for creating a 360 degree panoramic image from a plurality of images, comprising: determining a gross rotation error ΔR between a first image and a last image, wherein the gross rotation error ΔR is a rotation necessary to rotate the first image to match the last image; determining a rotation angle θ0 and a rotation axis n0 for the gross rotation error ΔR, comprising using a plurality of relative rotation matrices between adjacent images from the plurality of images to calculated the rotation angle θ0 and the rotation axis n0; determining a rotation angle α of a column on the 360 degree panoramic image; determining a compensation matrix Rc for each column using the following formula: where the rotation axis n0 is [n1, n2, n3]T; tracing a first pixel in the column to a camera optical center of the plurality of images to form a first ray; determining a second ray originating from the camera optical center that would be rotated by the compensation matrix Rc to coincide with the first ray; tracing the second ray to an intersection with a second pixel on one of the plurality of images; painting the first pixel with color values of the second pixel; repeating said tracing a first pixel, said determining a second ray, said tracing the second ray, and said painting for other pixels in the column the compensation matrix Rc; and repeating said determining a rotation angle α, said determining a compensation matrix Rc, said tracing a first pixel, said determining a second ray, said tracing the second ray, and said painting for other columns on the 360 degree panoramic image.