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System and method for registration of cubic fisheye hemispherical images

  • US 7,412,091 B2
  • Filed: 12/07/2001
  • Issued: 08/12/2008
  • Est. Priority Date: 12/07/2000
  • Status: Active Grant
First Claim
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1. A computer-assisted method for aligning two digitized overlapping hemispheric images of an environment obtained with a fisheye lens comprising the steps of:

  • (a) receiving the location of three spatial points as recorded in an overlapping region of each hemispheric image;

    (b) determining the translation and rotation of one hemispheric image relative to its ideal position from the locations of the three spatial points in the two images based on a displacement model; and

    (c) obtaining the true centre of projection (Q) in each image.

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