System and method for rectified mosaicing of images recorded by a moving camera
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Abstract
A system is described for generating a rectified mosaic image from a plurality of individual images, the system comprising a quadrangular region defining module, a warping module and a mosaicing module. The quadrangular region defining module is configured to define in one individual image a quadrangular region in relation to two points on a vertical anchor in the one individual image and mappings of two points on a vertical anchor in at least one other individual image into the one individual image. The warping module is configured to warp the quadrangular region to a rectangular region. The mosaicing module configured to mosaic the quadrangular region to the mosaic image. The system further generates a mosaic from a plurality of panoramic images, the system comprising a motion determining module, a normalizing module, a strip selection module, and a mosaicing module. The motion determining module is configured to determine image motion between two panoramic images. The normalizing module is configured to normalize respective columns in the panoramic images in relation to the ratio of the image motion thereof to the image motion of a selected column, thereby to generate normalized panoramic images. The strip selection module is configured to select strips of the normalized panoramic images. The mosaicing module is configured to mosaic the selected strips together.
35 Citations
55 Claims
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1-27. -27. (canceled)
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28. A method of producing a mosaic of a scene from a sequence of camera images of the scene acquired at a respective sequence of positions, the method comprising:
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determining first and second anchor points in each image;
warping at least one portion of a given image of the camera images that includes the image'"'"'s anchor points using a transform that changes the scale of a region in the portion and leaves the position of the two anchor points invariant; and
for each portion of the at least one portion, placing the portion adjacent a portion of an other image acquired at a position adjacent that at which the given image is acquired so that features in the portions of the given and other images are aligned. - View Dependent Claims (29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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45. A method of producing a mosaic of a scene from a sequence of camera images of the scene acquired at a respective sequence of positions, the method comprising:
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determining first and second anchor points in each image;
determining for a given image of the sequence of images and at least one other image of the sequence of images acquired at a position adjacent that at which the given image is acquired, two additional points in the first image and corresponding homologous points in the other image;
warping at least a portion of the given image using a transform that leaves the anchor points in the given image invariant so that a distance between the additional points and the corresponding points are the same; and
placing at least portions of the given and other image adjacent each other so that the additional and corresponding points are aligned. - View Dependent Claims (46, 47, 48, 49)
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50. A method of producing a mosaic of a scene from a sequence of camera images of the scene acquired at a respective sequence of positions, the method comprising:
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determining first and second anchor points in each image so that in each image the line segment between the anchor points has a same length and same direction;
determining for each image at least one quadrilateral region defined by two auxiliary points collinear with the image anchor points and separated by a distance equal to that which separates the anchor points, and two additional points for which at least a portion of a line between them lies in the image;
warping the at least one quadrilateral into a rectangle using a transform under which the positions of the two auxiliary points are invariant; and
aligning rectangles from images acquired at adjacent positions adjacent to each other. - View Dependent Claims (51, 52, 53, 54, 55)
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Specification