Generalized panoramic mosaic
First Claim
1. A method for combining a sequence of two-dimensional images of a scene to obtain a panoramic mosaic of said scene, said sequence of two-dimensional images being acquired by a moving camera in relative motion with respect to said scene, said camera having an optical center, the camera motion giving rise to optical flow between the images, the method comprising the step of wrapping the images;
- pasting the images into the panoramic image, such that the optical flow becomes substantially parallel to the direction in which the mosaic is constructed.
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Abstract
Video mosaicing is commonly used to increase the visual field of view by pasting together many video frames. The invention provides for image mosaicing for general camera motion, including forward camera motion and zoom. After computing the motion between the images in a sequence, strips are selected from individual frames such that the strips are approximately perpendicular to the optical flow. The strips are warped such that the optical flow becomes parallel, and are pasted to a panoramic mosaic. The warping transformation on the strips, which results in making the optical flow to be parallel, can be modeled by an oblique projection of the image onto a cylindrical surface whose central axis is the trajectory of the camera. In addition, this invention uses view interpolation to generate dense intermediate views between original video frames, such that these intermediate views are used to overcome effects of motion parallax when creating panoramic mosaics.
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Citations
21 Claims
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1. A method for combining a sequence of two-dimensional images of a scene to obtain a panoramic mosaic of said scene, said sequence of two-dimensional images being acquired by a moving camera in relative motion with respect to said scene, said camera having an optical center, the camera motion giving rise to optical flow between the images, the method comprising the step of wrapping the images;
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pasting the images into the panoramic image, such that the optical flow becomes substantially parallel to the direction in which the mosaic is constructed. - View Dependent Claims (4, 5, 8, 10, 12, 14, 16, 20)
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2. A method for combining a sequence of two-dimensional images of a scene to obtain a panoramic mosaic of said scene, said sequence of two-dimensional images being acquired by a moving camera in relative motion with respect to said scene, said camera having an optical center, the camera motion giving rise to optical flow between the images, the method comprising the steps of:
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(a) selecting for each image of said sequence at least one strip such that each strip is substantially perpendicular to said optical flow;
said strips having a front edge and a back edge with the optical flow entering a strip through the front edge and exiting the strip through the back edge; and
(b) pasting together said strips from adjacent to construct a panoramic mosaic. - View Dependent Claims (3, 6, 7, 9, 11, 13, 15, 17, 21)
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18. A system for combining a sequence of two-dimensional images of a scene to obtain a panoramic mosaic of said scene, said sequence of two-dimensional images being acquired by a moving camera in relative motion with respect to said scene, said camera having an optical center, the camera motion giving rise to optical flow between the images, the system comprising:
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wrapper for wrapping the images;
paster for pasting the images into the panoramic image, such that the optical flow becomes substantially parallel to the direction in which the mosaic is constructed.
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19. A system for combining a sequence of two-dimensional images of a scene to obtain a panoramic mosaic of said scene, said sequence of two-dimensional images being acquired by a moving camera in relative motion with respect to said scene, said camera having an optical center, the camera motion giving rise to optical flow between the images, the system comprising:
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(a) selector for selecting for each image of said sequence at least one strip such that each strip is substantially perpendicular to said optical flow;
said strips having a front edge and a back edge with the optical flow entering a strip through the front edge and exiting the strip through the back edge; and
(b) paster for pasting together said strips from adjacent images in such a way that the front edge of a strip defined on an image is substantially aligned with the back edge of a strip defined on an adjacent image.
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Specification