3D Environment Modeling from Multiple Cylindrical Panoramic Images
A traditional approach to extracting geometric information from a large scene is to compute multiple (possibly numerous) 3D depth maps from stereo pairs, and then to merge the 3D data [71, 109, 210, 255]. This is not only computationally intensive, but the resulting merged depth maps may be subject to merging errors, especially if the relative poses between depth maps are not known exactly. The 3D data may also have to be resampled before merging, which adds additional complexity and potential sources of errors. 3D data registration and merging are very much simplified if the motion of the stereo pair is known. One simple instance of this is fixing the location of the center of the reference camera of a stereo pair and constraining the motion of the stereo pair to rotation about the vertical axis. However, unless a motorized rotary table is used to control the amount of rotation, the rotation between successive stereo views still has to be estimated. There is still the same (but much more constrained) problem of registration and 3D resampling, albeit with only one rotational degree of freedom.
KeywordsStereo Pair Panoramic Image Motion Parallax Epipolar Line Epipolar Geometry
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