System and method for real-time image retensioning and loop error correction
First Claim
1. A method for correcting an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, comprising:
- using a processor to;
identify a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame;
register the first image frame with the second image frame;
apply a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints;
identifying a registration break in the closed loop, the registration break being between two consecutive frames i and i+1 in the sequence;
assigning all registration errors in the closed loop to a pair-wise registration between frames i and i+1; and
updating pair-wise transformation parameters according to a transformation matrix for frames i and i+1.
2 Assignments
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Accused Products
Abstract
Due to an accumulated error from the pair-wise registration, the stitched image may be blurred or have a gap when a loop is encountered. In order to remove the accumulated error, we identify a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in a scanning sequence than the first image frame; register the first image frame with the second image frame; and apply a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints.
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Citations
18 Claims
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1. A method for correcting an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, comprising:
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using a processor to; identify a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame; register the first image frame with the second image frame; apply a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints; identifying a registration break in the closed loop, the registration break being between two consecutive frames i and i+1 in the sequence; assigning all registration errors in the closed loop to a pair-wise registration between frames i and i+1; and updating pair-wise transformation parameters according to a transformation matrix for frames i and i+1. - View Dependent Claims (2, 3, 4, 5)
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6. A method for correcting an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, comprising:
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using a processor to; identify a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame; register the first image frame with the second image frame; and apply a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints; the method further comprising marking all pair-wise registrations of image frames within the closed loop as fixed; wherein the registration parameters of pair-wise registrations of image frames within the closed loop that have been marked as fixed are not adjusted during the global optimization.
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7. An apparatus for correcting an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, comprising:
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a processor that; identifies a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame; registers the first image frame with the second image frame; applies a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints; identifies a registration break in the closed loop, the registration break being two consecutive frames i and i+1 in the sequence; assigns all registration errors in the closed loop to a pair-wise registration between frames i and i+1; and updates pair-wise transformation parameters according to a transformation matrix for frames i and i+1. - View Dependent Claims (8, 9, 10, 11)
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12. An apparatus for correcting an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, comprising:
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a processor that; identifies a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame; registers the first image frame with the second image frame; applies a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints; and marks all pair-wise registrations of image frames within the closed loop as fixed; wherein the registration parameters of pair-wise registrations of image frames within the closed loop that have been marked as fixed are not adjusted during the global optimization.
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13. One or more tangible, non-transitory computer-readable media having computer-readable instructions thereon, which, when executed by a processor, correct an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, wherein the processor:
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identifies a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame; registers the first image frame with the second image frame; applies a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints; identifies a registration break in the closed loop, the registration break being between two consecutive frames i and i+1 in the sequence; assigns all registration errors in the closed loop to a pair-wise registration between frames i and i+1; and updates pair-wise transformation parameters according to a transformation matrix for frames i and i+1. - View Dependent Claims (14, 15, 16, 17)
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18. One or more tangible, non-transitory computer-readable media having computer-readable instructions thereon, which, when executed by a processor, correct an error accumulated from a plurality of pair-wise registrations of image frames captured in sequence by a scanning device, wherein the processor:
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identifies a closed loop where a first image frame overlaps with a second image frame, the second image frame being captured earlier in the sequence than the first image frame; registers the first image frame with the second image frame; applies a global optimization to adjust registration parameters for the plurality of pair-wise registrations of image frames within the closed loop using global constraints; and marks all pair-wise registrations of image frames within the closed loop as fixed; wherein the registration parameters of pair-wise registrations of image frames within the closed loop that have been marked as fixed are not adjusted during the global optimization.
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Specification