System And Method For Real-Time Image Retensioning And Loop Error Correction
First Claim
1. A method for correcting an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, comprising:
- using a processor to;
identify a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame;
register the first image frame with the second image frame; and
apply a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints.
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Abstract
Due to an accumulated error from the pair-wise registration, the stitched image may be blurred or have a gap when a loop is encountered. In order to remove the accumulated error, we identify a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in a scanning sequence than the first image frame; register the first image frame with the second image frame; and apply a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints.
14 Citations
24 Claims
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1. A method for correcting an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, comprising:
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using a processor to; identify a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame; register the first image frame with the second image frame; and apply a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus for correcting an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, comprising:
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a processor that; identifies a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame; registers the first image frame with the second image frame; and applies a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. One or more tangible, non-transitory computer-readable media having computer-readable instructions thereon, which, when executed by a processor, correct an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, wherein the processor:
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identifies a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame; registers the first image frame with the second image frame; and applies a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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Specification