Representation and coding of panoramic and omnidirectional images

• US 7,292,722 B2
• Filed: 07/12/2006
• Issued: 11/06/2007
• Est. Priority Date: 12/03/2002
• Status: Expired due to Term

• Current Assignee: NTT Docomo Incorporated (Nippon Telegraph and Telephone Corporation)
• Original Assignee: NTT Docomo Incorporated (Nippon Telegraph and Telephone Corporation)
• Inventors: Lelescu, Dan, Bossen, Frank Jan
• Primary Examiner(s): LAROSE, COLIN M
• Application Number:
  US11/486,171
• Publication Number:
  US 20060251336A1
• Time in Patent Office: 482 Days
• Field of Search: 382/100, 382/154, 382/276, 382/286, 382/288, 382/293, 348/36
• US Class Current: 382/154
• CPC Class Codes: G06T 3/047 Fisheye or wide-angle transformations
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

A method for representing an omnidirectional-like image by capturing an omnidirectional-like image and determining a representation format that is commonly applicable to any image acquisition system that is able to capture the omnidirectional-like image. The captured omnidirectional-like image is mapped onto the determined representation format.

Claims

1. A method for representing an omnidirectional-like image, comprising:

capturing an omnidirectional-like image;

mapping points of said captured omnidirectional-like image to a surface of a sphere; and

mapping points on said surface of said sphere to a surface of a solid inscribed within said sphere.

2. The method of claim 1, wherein said solid comprises a polyhedra.

3. The method of claim 1, wherein said solid comprises and octahedron.

4. The method of claim 2, wherein said solid comprises vertices situated on the surface of the sphere.

10. The method of claim 1, further comprising mapping points on said surface of said solid to an equatorial plane of said sphere.

11. The method of claim 10, wherein said equatorial plane corresponds to a sensor plane of a camera that captures said omnidirectional-like image.

12. The method of claim 10, wherein a first image corresponding to a first hemisphere of said sphere is formed on said equatorial plane and a second image corresponding to a second hemisphere opposite said first hemisphere is formed on said equatorial plane.

13. The method of claim 12, further comprising packing said first image and said second image.

14. The method of claim 13, further comprising encoding said packed first image and said packed second image.

15. The method of claim 14, wherein said encoding takes into account the nature of said packed first image and said packed second image.

16. The method of claim 14, wherein said encoding takes into account optical flow characteristics of said packed first image and said packed second image.

17. The method of claim 14, further comprising decoding said encoded first and second packed images, wherein said decoding is universal in that it is the same irregardless of the type of image acquisition system used to capture said omnidirectional-like image.

18. The method of claim 17, further comprising texture-mapping said decoded first and second packed images onto faces of a polyhedron to form a texture-mapped image.

19. The method of claim 18, further comprising displaying said texture-mapped image.

20. The method of claim 19, wherein said displaying comprises displaying a panoramic image of said texture-mapped image.

21. The method of claim 20, wherein said displaying comprises displaying a perspective view of said panoramic image.

22. The method of claim 21, wherein said perspective view of said panoramic image is generated interactively.

23. The method of claim 20, wherein said panoramic image is generated interactively.

24. The method of claim 13, further comprising encoding said first image and said second image.

25. The method of claim 24, wherein said encoding takes into account the nature of said first image and said second image.

26. The method of claim 24, wherein said encoding takes into account optical flow characteristics of said first image and said second image.

27. The method of claim 24, further comprising decoding said encoded first and second images, wherein said decoding is universal in that it is the same irregardless of the type of image acquisition system used to capture said omnidirectional-like image.

28. The method of claim 27, further comprising texture-mapping said decoded first and second images onto faces of a polyhedron to form a texture-mapped image.

29. The method of claim 28, further comprising displaying said texture-mapped image.

30. The method of claim 29, wherein said displaying comprises displaying a panoramic image of said texture mapped image.

31. The method of claim 30, wherein said displaying comprises displaying a perspective view of said panoramic image.

32. The method of claim 31, wherein said perspective view of said panoramic image is generated interactively.

33. The method of claim 30, wherein said panoramic image is generated interactively.

5. A method for representing an omnidirectional-like image, comprising:

capturing an omnidirectional-like image;

determining a representation format that is commonly applicable to any image acquisition system that is able to capture said omnidirectional-like image; and

mapping said captured omnidirectional-like image onto said determined representation format,

wherein said determining comprises;

mapping points of said captured omnidirectional-like image to a surface of a sphere; and

mapping points on said surface of said sphere to a surface of a solid inscribed within said sphere.

6. The method of claim 5, further comprising displaying said mapped omnidirectional-like image.

7. The method of claim 5, wherein said sphere is centered about a center of projection of an image acquisition system that captures said captured omnidirectional-like image.

8. The method of claim 5, wherein said determining comprises:

mapping points on said surface of said sphere to a sensor plane of a camera that captures said omnidirectional-like image.

9. The method of claim 8, wherein said mapping points on said surface of said sphere to a sensor plane models an acquisition process of an image acquisition system that captures said omnidirectional-like image.