Method for determining camera position from two-dimensional images that form a panorama
First Claim
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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Abstract
A method of estimating three-dimensional camera position information from a series of two-dimensional images that form a panorama employs common features in adjoining image pairs in the series to estimate a transform between the images in the pairs. The common features are subsequently employed to adjust an estimated rotational component of each transform by reducing error between coordinates corresponding to the common features in three-dimensional space in image pairs, on a pair-by-pair basis. A global optimization of the position estimation, used for long sequences of images such as 360 degree panoramas, refines the estimates of the rotational and focal length components of the transforms by concurrently reducing error between all 3D common feature coordinates for all adjoining pairs.
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Citations
14 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 12)
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8. A method of estimating camera position information from a series of source images that form a panorama, the method comprising:
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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 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 v-component of the x-axis of each image to zero; and setting the v-axis of each image to the cross-product of said x-axis and the respective image normal; wherein said determining is done on the basis of an initial focal length; prior to said adjusting, placing a reference image onto an equator of a three-dimensional model, at a distance equal to a respective initial estimate of focal length from an origin of said model; and sequentially placing adjoining images into said model based on respective initial estimates of focal length and rotational component and identifying rays from said origin to corresponding ones of said coordinates in adjoining images; wherein said adjusting comprises minimizing error in direction between corresponding ones of said rays. - View Dependent Claims (9, 10, 11)
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13. The method of 1, wherein said refining comprises correcting focal lengths, and rotation angles for each of three-dimensions.
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14. An apparatus for estimating three dimensional camera position information from a set of two dimensional images forming a panorama, the device comprising:
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a transform estimator estimating a transform between adjoining image pairs in said series based on common features within said adjoining image pairs; a rotational component determinor determining a rotational component for each transform and three-dimensional coordinates for said common features; an adjustor adjusting each of the rotational components to reduce errors between corresponding ones of said coordinates in adjoining image pairs; and a focal length calculator 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 v-axis of each image to the cross-product of said x-axis and the respective image normal.
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Specification