STITCHING FRAMES INTO A PANORAMIC FRAME
First Claim
1. A method of stitching a plurality of frames captured at multiple viewing angles by a plurality of imagers mounted around a common center into a panoramic frame imaging, at least partly, an environment surrounding said common center, comprising:
- receiving a set of a plurality of frames captured at multiple viewing angles by a plurality of imagers mounted around a common center region to image an environment surrounding said common center region;
identifying in each of a plurality of pairs of neighboring frames from said plurality of frames at least one overlapping area, each said pair of neighboring frames comprises frames captured about the same time by two imagers from said plurality of imagers, said two imagers having overlapping fields of view;
for each said at least one overlapping area;
identifying a center connecting axis connecting between centers of respective said pair of neighboring frames;
calculating a motion gradient for each frame of said pair of neighboring frames, values of said motion gradient increase towards a lateral edge of a respective said frame;
adapting pixels of said pair of neighboring frames in said at least one overlapping area based on corresponding values from said motion gradient along said center connecting axis; and
stitching said pair of adapted neighboring frames into a panoramic frame which at least partly imaging an environment surrounding said common center.
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Abstract
A method of stitching frames captured at multiple viewing angles comprising: receiving a set of frames captured by imagers, identifying in each of pairs of neighboring frames, each neighboring frame is captured about the same time as the other from an imager having an overlapping field of view with another. For each overlapping area a center connecting axis connecting between centers of respective the pair of neighboring frames is identified, a motion gradient for each frame of the pair of neighboring frames is calculated, pixels of the pair of neighboring frames in the at least one overlapping area are adapted based on corresponding values from the motion gradient along the center connecting axis, the pair of adapted neighboring frames into a panoramic frame which at least partly imaging an environment surrounding the common center is stitched.
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Citations
20 Claims
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1. A method of stitching a plurality of frames captured at multiple viewing angles by a plurality of imagers mounted around a common center into a panoramic frame imaging, at least partly, an environment surrounding said common center, comprising:
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receiving a set of a plurality of frames captured at multiple viewing angles by a plurality of imagers mounted around a common center region to image an environment surrounding said common center region; identifying in each of a plurality of pairs of neighboring frames from said plurality of frames at least one overlapping area, each said pair of neighboring frames comprises frames captured about the same time by two imagers from said plurality of imagers, said two imagers having overlapping fields of view; for each said at least one overlapping area; identifying a center connecting axis connecting between centers of respective said pair of neighboring frames; calculating a motion gradient for each frame of said pair of neighboring frames, values of said motion gradient increase towards a lateral edge of a respective said frame; adapting pixels of said pair of neighboring frames in said at least one overlapping area based on corresponding values from said motion gradient along said center connecting axis; and stitching said pair of adapted neighboring frames into a panoramic frame which at least partly imaging an environment surrounding said common center. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A system of stitching a plurality of frames captured at multiple viewing angles by a plurality of imagers mounted around a common center into a panoramic frame imaging, at least partly, an environment surrounding said common center, comprising:
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an interface adapted to receive a set of a plurality of frames captured about the same time at multiple viewing angles by a plurality of imagers mounted around a common center region to image an environment surrounding said common center region; a code store adapted to store a code; a processor adapted to execute said code for; identifying in each of a plurality of pairs of neighboring frames from said plurality of frames at least one overlapping area, each said pair of neighboring frames comprises frames captured about the same time by two imagers from said plurality of imagers, said two imagers having overlapping fields of view; for each said at least one overlapping area; identifying a center connecting axis connecting between centers of respective said pair of neighboring frames; calculating a motion gradient for each frame of said pair of neighboring frames, values of said motion gradient increase towards a lateral edge of a respective said frame; adapting pixels of said pair of neighboring frames in said at least one overlapping area based on corresponding values from said motion gradient along said center connecting axis; and stitching said pair of adapted neighboring frames into a panoramic frame which at least partly imaging an environment surrounding said common center. - View Dependent Claims (19)
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20. A software program product for stitching a plurality of frames captured at multiple viewing angles by a plurality of imagers mounted around a common center into a panoramic frame imaging, at least partly, an environment surrounding said common center, comprising:
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a non-transitory computer readable storage medium; first program instructions for receiving a set of a plurality of frames captured at multiple viewing angles by a plurality of imagers mounted around a common center region to image an environment surrounding said common center region; second program instructions for identifying in each of a plurality of pairs of neighboring frames from said plurality of frames at least one overlapping area, each said pair of neighboring frames comprises frames captured about the same time by two imagers from said plurality of imagers, said two imagers having overlapping fields of view; third program instructions for performing the following for each said at least one overlapping area; identifying a center connecting axis connecting between centers of respective said pair of neighboring frames; calculating a motion gradient for each frame of said pair of neighboring frames, values of said motion gradient increase towards a lateral edge of a respective said frame; adapting pixels of said pair of neighboring frames in said at least one overlapping area based on corresponding values from said motion gradient along said center connecting axis; and stitching said pair of adapted neighboring frames into a panoramic frame which at least partly imaging an environment surrounding said common center; wherein said first, second and third program instructions are executed by at least one computerized processor from said non-transitory computer readable storage medium.
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Specification