Method and apparatus for providing panoramic view with geometric correction
First Claim
1. A method of providing a panoramic view, the method comprising:
- receiving a source image with respect to a plurality of pixels taken with a camera, and a location vector of each of the plurality of pixels;
generating a transformation matrix for tilting the source image based on a distortion angle towards a plane direction of the source image, a distortion angle towards a depth direction of the source image, a camera parameter matrix and a location correction matrix; and
geometrically tilting the source image by obtaining a tilting vector with respect to the location vector from the transformation matrix and relocating the pixels of the source image to the tilting vector.
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Abstract
A method and apparatus of correcting geometric information and providing a panoramic view. In the method of providing a panoramic view, a tilting vector (X′, Y′) is generated by applying matrices H(a,b) and HF to a source image vector (X,Y). The matrix H(a,b) is defined by distortion angles “b” towards a plane direction and a distortion angle “a” towards a depth direction of the source image, and the matrix HF is defined according to a camera parameter matrix K. Also, a two-dimensional vector (x,y) of a source image is converted into a three-dimensional vector (X,Y,W) on a retinal image plane having a unit radial distance from an origin of a ground plane. Also, a warped image width (WIW) is estimated from a width and a field of view (FOV) of the source image. A warping vector (x′,y′) is generated based on the converted vector (X,Y,W) and the WIW.
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Citations
18 Claims
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1. A method of providing a panoramic view, the method comprising:
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receiving a source image with respect to a plurality of pixels taken with a camera, and a location vector of each of the plurality of pixels; generating a transformation matrix for tilting the source image based on a distortion angle towards a plane direction of the source image, a distortion angle towards a depth direction of the source image, a camera parameter matrix and a location correction matrix; and geometrically tilting the source image by obtaining a tilting vector with respect to the location vector from the transformation matrix and relocating the pixels of the source image to the tilting vector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A tilting apparatus for providing a panoramic view, the apparatus comprising:
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a basic transformation matrix generation unit to calculate a plurality of element values from a distortion angle towards a plane direction and a distortion angle towards a depth direction, to generate a basic matrix; an inverse matrix generation unit to receive a parameter matrix of a camera taking an image, to generate an inverse matrix of the parameter matrix; a first multiplier to multiply the basic matrix generated in the basic transformation matrix generation unit by the inverse matrix generated in the inverse matrix generation unit; a second multiplier to multiply the parameter matrix by a matrix output from the first multiplier; a third multiplier to multiply a location correction matrix by a matrix output from the second multiplier, and to generate a final transformation matrix; and a fourth multiplier to multiply a location vector of a source image taken with the camera by the final transformation matrix output from the third multiplier, to generate a tilting vector of the source image, wherein the source image is geometrically tilted according to the tilting vector.
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16. A warping apparatus for providing a panoramic view, the apparatus comprising:
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a warping width set unit to calculate a warped image width from a width and an FOV of a source image; an angle calculation unit to calculate an angle of a left-most side pixel and an angle of a right-most side pixel with respect to a certain line, from an input size of the source image; an inverse matrix generation unit to receive a parameter matrix of a camera that recorded the image and to generate an inverse matrix of the parameter matrix; a multiplier to multiply the inverse matrix generated in the inverse matrix generation unit by a vector based on a location vector of the source image taken with the camera, to generate an element value corresponding to each pixel of the source image; a tangent calculation unit to calculate an angle of the source image pixel from the element value outputted from the multiplier; a first coordinate determination unit to determine a first coordinate value of a pair of coordinates of a warping vector of the source image from the angle of the source pixel that is calculated in the tangent calculation unit, the warped image width that is calculated in the warping width set unit, and the angles that are calculated in the angle calculation unit; and a second coordinate determination unit to determine a second coordinate value of the pair of coordinates of the warping vector based on element values of the output of the multiplier, wherein the source image is geometrically warped according to the warping vector. - View Dependent Claims (17, 18)
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Specification