Method and Device for Forming a Panoramic Image

• US 20130236122A1
• Filed: 09/30/2011
• Published: 09/12/2013
• Est. Priority Date: 09/30/2010
• Status: Active Grant

• Current Assignee: ST-Ericcson SA (Telefonaktiebolaget LM Ericsson)
• Original Assignee: ST-Ericcson SA (Telefonaktiebolaget LM Ericsson)
• Inventors: Drouot, Antoine
• Granted Patent: US 9,042,676 B2
• Time in Patent Office: Days
• US Class Current: 382/284
• CPC Class Codes: G03B 37/04 with cameras or projectors providing touching or overlapping fields of view
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images

Abstract

There is described a method and a device for forming a panoramic image wherein it is decided to add a current image in a current panoramic image based on definitions of edges of the current image and the current panoramic image.

Claims

1. A method of forming a panoramic image by assembling images according to at least two non parallel non-parallel directions, the method being performed by an image processing device, and the method comprising the following steps of:

storing first coordinates defining in a two dimensional space, edges of a current panoramic image,

superimposing a current image on said current panoramic image for completing the current panoramic image, the current image thus having a first area which is not common with the current panoramic area,

storing second coordinates defining in the two dimensional space, edges of the current image superimposed on the current panoramic image,

deciding whether the first area should be added to the current panoramic image, based on the first and second stored coordinates, and

adding, at least partially, the first area of the current image in the current panoramic image, if it has been decided to add the first area.

2. A method according to claim 1, wherein the steps are iterated for several images.

3. A method according to claim 1, wherein the current image has a second area common with the current panoramic image, the method further comprising the following steps, when it has been decided to add the first area:

defining a third area in the current image, said third area being included in the second area in a vicinity of the first area and extending along a line of separation of the first and second areas, and

performing a blending of pixels of the current panoramic image comprised in an area of the current panoramic image on which the third area is superimposed with pixels of the current image comprised in the third area.

4. A method according to claim 1, wherein the step of storing the first coordinates comprises defining:

a first vector that stores for each abscissa of the current panoramic image the greatest ordinate of the current panoramic image at the said abscissa,

a second vector that stores for each abscissa of the current panoramic image the lowest ordinate of the current panoramic image at the said abscissa,

a third vector that stores for each ordinate of the current panoramic image the greatest abscissa of the current panoramic image at the said ordinate, and

a fourth vector that stores for each ordinate of the current panoramic image the lowest abscissa of the current panoramic image at the said ordinate.

5. A method according to claim 4, further comprising updating at least one of the vectors after the first area has been added to the current panoramic image.

6. A method according to claim 1, wherein the step of storing the second coordinates comprises storing:

for at least one abscissa of the current image, the lowest and the greatest ordinates of the current image at the said abscissa, and

for at least one ordinate of the current image, the lowest and the greatest abscissas of the current image at the said ordinate.

7. A method according to claim 1, wherein the decision step comprises checking the following conditions:

whether there exists at least one ordinate of the current panoramic image for which the sum of the lowest abscissa of the current image and a first margin value is inferior to the lowest abscissa of the current panoramic image at the said ordinate,

whether there exists at least one ordinate of the current panoramic image for which the sum of the greatest abscissa of the current panoramic image at the said ordinate and the first margin value is inferior to the greatest abscissa of the current image,

whether there exists at least one abscissa of the current panoramic image for which the sum of a second margin value and the lowest ordinate of the current image is inferior to the lowest ordinate of the current panoramic image at the said abscissa, and

whether there exists at least one abscissa of the current panoramic image for which the sum of the second margin value and the greatest ordinate of the current panoramic image at the said abscissa is inferior to the greatest ordinate of the current image,

and wherein it is decided to add the first area to the current panoramic image if at least one of the said conditions is fulfilled.

8. A method according to claim 7, wherein it is decided to add the first area to the current panoramic image if at least two of the said conditions are fulfilled.

9. A method according to claim 1, wherein the current panoramic image corresponds to a set of previously assembled images.

10. A method according to any claim 1, wherein the current panoramic image has a convex shape.

11. A computer program product comprising a computer readable medium, having thereon a computer program comprising program instructions adapted to, when loaded and run on computer means of an image processing device, cause the computer means to implement the steps of a method according to claim 1.

12. A circuit configured to form a panoramic image by assembling images according to at least two non-parallel directions by:

storing first coordinates defining in a two dimensional space, edges of a current panoramic image,

superimposing a current image on said current panoramic image for completing the current panoramic image, the current image thus having a first area which is not common with the current panoramic area,

storing second coordinates defining in the two dimensional space, edges of the current image superimposed on the current panoramic image,

deciding whether the first area should be added to the current panoramic image, based on the first and second stored coordinates, and

adding, at least partially, the first area of the current image in the current panoramic image, if it has been decided to add the first area.

13. A circuit according to claim 12, wherein the current image has a second area common with the current panoramic image, the circuit further being configured for:

defining a third area in the current image, said third area being included in the second area in a vicinity of the first area and extending along a line of separation of the first and second areas, and

performing a blending of pixels of the current panoramic image comprised in an area of the current panoramic image on which the third area is superimposed with pixels of the current image comprised in the third area,

when it has been decided to integrate the first area.

14. An image processing device comprising at least one memory and a control unit for forming a panoramic image by assembling images according to at least two non-parallel directions, the control unit comprising a circuit according to claim 12.

15. An image capturing device, such as a camera or a mobile telephone, comprising an image capturing arrangement and the image processing device of claim 14.