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STITCHING FRAMES INTO A PANORAMIC FRAME

  • US 20180063513A1
  • Filed: 12/12/2016
  • Published: 03/01/2018
  • Est. Priority Date: 01/03/2016
  • Status: Active Grant
First Claim
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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:

  • 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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