Image stitching
First Claim
1. A method for forming a composite image from a set of images, the method comprising:
- using one or more processors to execute at least in part the following operations;
identifying one or more foreground pixel groups in a first image from the set of images and one or more foreground pixel groups in a second image from the set of images;
identifying a set of interest points selected from the foreground pixel groups in the first image;
forming a set of point pairs by finding a set of points selected from the foreground pixel groups of the second image that correlates to the set of interest points;
forming a transform using at least some of the set of point pairs;
responsive to a foreground pixel group residing on a boundary of the first image or the second image, removing the foreground pixel group;
responsive to at least one foreground pixel of a transformed foreground pixel group from the second image, which transformed foreground pixel group is obtained using the transform, corresponding at a same pixel location in the first image to a foreground pixel in the first image, discarding the foreground pixel group of the second image;
for a foreground pixel group of the second image that has not been discarded;
transforming, according to the transform, a bounding box that bounds the foreground pixel group;
performing an inverse transform of at least some of the pixels within the transformed bounding box; and
responsive an inverse-transformed pixel corresponding to a foreground pixel in the second image, making the pixel from the transformed bounding box a foreground pixel.
2 Assignments
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Accused Products
Abstract
Disclosed are embodiments of systems and methods to stitch two or more images together into a composite image. By finding matching point pairs for a pair of images, a homography transform may be obtained for the pair of images. The homography transform may be used to generate a composite image of the image pair. In an embodiment, the process of identifying a homography transform may be iterated. In an embodiment, when forming the composite image, the transformed foreground regions may be selected such that there is no intersection of foreground pixel regions. In an embodiment, foreground pixel regions on the border of an image may be removed. The resulting composite image is a larger image generated from the selected regions from the input images. In embodiments, the process may be repeated for sets of images with more than two images.
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Citations
20 Claims
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1. A method for forming a composite image from a set of images, the method comprising:
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using one or more processors to execute at least in part the following operations; identifying one or more foreground pixel groups in a first image from the set of images and one or more foreground pixel groups in a second image from the set of images; identifying a set of interest points selected from the foreground pixel groups in the first image; forming a set of point pairs by finding a set of points selected from the foreground pixel groups of the second image that correlates to the set of interest points; forming a transform using at least some of the set of point pairs; responsive to a foreground pixel group residing on a boundary of the first image or the second image, removing the foreground pixel group; responsive to at least one foreground pixel of a transformed foreground pixel group from the second image, which transformed foreground pixel group is obtained using the transform, corresponding at a same pixel location in the first image to a foreground pixel in the first image, discarding the foreground pixel group of the second image; for a foreground pixel group of the second image that has not been discarded; transforming, according to the transform, a bounding box that bounds the foreground pixel group; performing an inverse transform of at least some of the pixels within the transformed bounding box; and responsive an inverse-transformed pixel corresponding to a foreground pixel in the second image, making the pixel from the transformed bounding box a foreground pixel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for forming a composite image from a set of images comprising:
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a segmenter, coupled to receive the set of images, that identifies one or more foreground pixel groups in a first image from the set of images and one or more foreground pixel groups in a second image from the set of images; an interest point detector, coupled to receive information from the segmenter, that identifies a set of interest points selected from the foreground pixel groups in the first image; a point matcher, coupled to receive information from the interest point detector, that forms a set of point pairs by finding a set of points selected from the foreground pixel groups of the second image that correlates to the set of interest points; a point pair selector, coupled to receive information from the point matcher, that uses a distance histogram to select a set of dominant point pairs; a transform calculator, coupled to receive information from the point pair selector, that forms a transform using at least some of the set of dominant point pairs; a border pixel remover, coupled to receive information from the transform calculator, that, responsive to a foreground pixel group residing on a boundary of the first image or the second image, discards the foreground pixel group; an intersection checker, coupled to receive information from the border pixel remover, that, responsive to at least one foreground pixel of a transformed foreground pixel group from the second image, which transformed foreground pixel group is obtained using the transform, corresponding at a same pixel location in the first image to a foreground pixel in the first image, discards the foreground pixel group of the second image; and an image stitcher, coupled to receive information from the intersection checker, that uses the transform and at least some of the non-discarded foreground pixel groups to form a composite image. - View Dependent Claims (10, 11, 12)
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13. A method for forming a composite image from a set of images, the method comprising:
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using one or more processors to execute at least in part the following operations; forming a transform between a first image and a second image; responsive to a foreground pixel group residing on a boundary of the first image or the second image, removing the foreground pixel group; responsive to at least a portion of a foreground pixel group transformed, using the transform, from the second image intersecting at least a portion of a foreground pixel group in the first image, removing the foreground pixel group from one of the first or the second images; for a foreground pixel group of the second image that has not been discarded; transforming, according to the transform, a bounding box that bounds the foreground pixel group; performing an inverse transform of at least some of the pixels within the transformed bounding box; and responsive an inverse-transformed pixel corresponding to a foreground pixel in the second image, making the pixel from the transformed bounding box in the first image a foreground pixel. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification