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Cylindrical panoramas

Cylindrical panoramas. Rotation Only - Calibrated Case. Calibrated Two views related by rotation only Mapping to a reference view – rotation can be estimated Mapping to a cylindrical surface. Matching SIFT Features. [Brown 2003]. Reject Outliers using RANSAC. [Brown 2003].

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Cylindrical panoramas

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  1. Cylindrical panoramas Jana Kosecka, CS 223b

  2. Rotation Only - Calibrated Case • Calibrated Two views related by rotation only • Mapping to a reference view – rotation can be estimated • Mapping to a cylindrical surface Jana Kosecka, CS 223b

  3. Matching SIFT Features [Brown 2003] Jana Kosecka, CS 223b

  4. Reject Outliers using RANSAC [Brown 2003] Jana Kosecka, CS 223b

  5. Stitching Images [Brown 2003] Jana Kosecka, CS 223b

  6. Do we have to project on to a plane ? Camera Center Jana Kosecka, CS 223b

  7. Cylindrical Projection 360˚ Panorama [Szeliski & Shum 97] Camera Center Jana Kosecka, CS 223b

  8. Cylindrical projection Y • Convert to cylindrical coordinates X Z • Convert to cylindrical image coordinates unwrapped cylinder cylindrical image • Map 3D point (X,Y,Z) onto cylinder unit cylinder Jana Kosecka, CS 223b

  9. Cylindrical Projection Y X Jana Kosecka, CS 223b

  10. Inverse Cylindrical projection (X,Y,Z) (sinq,h,cosq) Y Z X Jana Kosecka, CS 223b

  11. Removing Seams • Differences in exposure • Vignetting • Small misalignments [Brown 2003] Jana Kosecka, CS 223b

  12. Multi-band Blending • [Burt and Adelson 1983] • Multi-resolution technique using image pyramid • Hides seams but preserves sharp detail [Brown 2003] Jana Kosecka, CS 223b

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