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Method for determining camera position from two-dimensional images that form a panorama

  • US 7,565,029 B2
  • Filed: 07/08/2005
  • Issued: 07/21/2009
  • Est. Priority Date: 07/08/2005
  • Status: Active Grant
First Claim
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1. A method of estimating camera position information from a series of source images that form a panorama, the method comprising:

  • using a processor to carry out the steps of;

    estimating a transform between adjoining image pairs in said series based on common features within said adjoining image pairs;

    determining a rotational component for each transform and three-dimensional coordinates for said common features;

    adjusting each of the rotational components to reduce errors between corresponding ones of said coordinates in adjoining image pairs; and

    calculating focal lengths based on the adjusted rotational components;

    wherein said determining is done on the basis of an initial focal length;

    in the event that predetermined conditions are satisfied, concurrently refining the focal lengths and rotational components to globally reduce errors between corresponding ones of said coordinates in all image pairs;

    prior to said refining, adjusting a position of each of said images to an average latitude of all images in said series;

    setting the y-component of the x-axis of each image to zero; and

    setting the y-axis of each image to the cross-product of said x-axis and the respective image normal.

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