Panoramic Imaging. Sensor-line cameras and laser range-finders

Cover......Page 1
Panoramic Imaging......Page 4
Contents......Page 8
Preface......Page 14
Series Preface......Page 18
Website and Exercises......Page 20
List of Symbols......Page 22
1.1.1 Accurate Panoramic Imaging......Page 24
1.1.2 Importance of Panoramas......Page 25
1.2 Panoramic Paintings......Page 26
1.2.1 Chinese Scrolls......Page 27
1.2.2 European Panoramic Paintings......Page 28
1.3.1 Historic Panoramic Cameras......Page 29
1.3.2 Photogrammetry......Page 30
1.4.1 Image Mosaicing......Page 32
1.4.2 Panoramas by Stitching......Page 33
1.4.3 Catadioptric Panoramas......Page 35
1.5.1 A General Perspective on Panoramic Sensors......Page 37
1.5.2 Rotating Sensor-Line Cameras......Page 38
1.5.3 Laser Range-Finder......Page 41
1.7 Further Reading......Page 43
2.1.1 Capturing Surface and Central Point......Page 46
2.1.2 Pinhole Camera......Page 47
2.1.3 Ideal Pinhole Camera......Page 48
2.1.5 Sensor-Line Cameras......Page 50
2.2.2 Ideal Gaussian Optics......Page 52
2.2.3 Pupil, Aperture, and f-Number......Page 54
2.2.4 Relation to the Pinhole Camera......Page 55
2.3.1 Rotating Sensor-Line Cameras......Page 57
2.3.2 Rotating Multi-Line Cameras......Page 63
2.3.3 Rotating Sensor-Matrix Cameras......Page 64
2.3.4 Laser Range-Finder......Page 66
2.4 Examples and Challenges......Page 69
2.6 Further Reading......Page 71
3.1.1 Euclidean Spaces and Coordinate Systems......Page 72
3.1.2 2D Manifolds and Surface Normals......Page 76
3.1.3 Vectors, Matrices, and Affine Transforms......Page 78
3.2.2 Asymmetric Perspective Projections......Page 81
3.3.1 Views and Projection Centers......Page 82
3.3.2 Refined Classification......Page 83
3.4.1 Planar Capturing Surface......Page 86
3.4.3 Cylindrical Capturing Surfaces......Page 88
3.5 Geometric Projection Formula for Cylindrical Panorama......Page 89
3.6.1 Image Vectors and Projection Rays......Page 93
3.6.2 Single-Center Panorama (Ideal Case)......Page 95
3.6.4 Multi-Center Panorama with ω<\\neq>0......Page 96
3.6.5 General Case of a Rotating Sensor-Line Camera......Page 97
3.7.1 Reprojection onto a Straight Cylinder......Page 98
3.7.3 Cylindrical Panorama onto Tangential Plane......Page 100
3.8 Laser Range-Finder......Page 101
3.9 Exercises......Page 102
3.10 Further Reading......Page 103
4.1 General Epipolar Curve Equation......Page 104
4.2.1 Leveled Panoramic Pair......Page 112
4.2.2 Co-axial Panoramic Pair......Page 118
4.2.3 Symmetric Panoramic Pair......Page 119
4.3 Exercises......Page 120
4.4 Further Reading......Page 121
5.1.1 Camera Calibration......Page 122
5.1.2 Extrinsic and Intrinsic Parameters......Page 124
5.1.3 Registration and Calibration......Page 125
5.2.1 Precalibration......Page 126
5.2.2 Correction of Color Shift......Page 129
5.2.4 Geometric Corrections......Page 133
5.2.5 Correction of Mechanical Vibrations......Page 135
5.3.1 Collinearity Equations......Page 136
5.3.2 Difference between Planar Capturing Surface and Panoramic Cylinder......Page 138
5.3.3 Parameters and Objective Functions......Page 139
5.3.4 General Error Criterion......Page 140
5.3.5 Discussion......Page 142
5.4.1 Three Methods......Page 143
5.4.2 Focal Length and Central Row......Page 144
5.4.3 Point-based Approach......Page 147
5.4.4 Image Correspondence Approach......Page 148
5.4.5 Parallel-line-based Approach......Page 152
5.4.6 Experimental Results......Page 158
5.5.2 Error Measurement......Page 161
5.6 Exercises......Page 166
5.7 Further Reading......Page 167
6.2 Sampling Structure......Page 168
6.2.1 Outward Case......Page 169
6.2.2 Inward Case......Page 172
6.3.1 Indexing System......Page 175
6.3.2 Computation of Resolution......Page 178
6.4.1 Basic Definitions......Page 180
6.4.2 Horizontal Sample Distance......Page 182
6.4.3 Vertical Sample Distance......Page 185
6.4.4 Depth Sample Distance......Page 186
6.5 Exercises......Page 188
6.6 Further Reading......Page 189
7.1 Two Requirements......Page 190
7.2.1 Range of Interest in the Scene......Page 192
7.2.2 Distance to Target Range......Page 193
7.2.3 Depth, Disparity, and Angular Disparity......Page 194
7.2.4 Image Resolution......Page 196
7.3.1 Off-Axis Distance R and Principal Angle ω......Page 198
7.3.2 Examples......Page 202
7.4.2 Parameter Dependencies......Page 204
7.4.3 Error in the Distance to Inner Border of RoI......Page 205
7.4.4 Error in the Distance to Outer Border of RoI......Page 207
7.4.5 Error in the Distance to Target Range......Page 209
7.5 Exercises......Page 211
7.6 Further Reading......Page 212
8.1 Introduction......Page 214
8.2.1 Simplifications, Main Focus, and Layout......Page 215
8.2.2 Geometric Analysis......Page 216
8.2.3 Algebraic Analysis......Page 220
8.3.1 Geometric Analysis......Page 224
8.3.2 Algebraic Analysis......Page 229
8.4.1 Analysis of Scene Ranges......Page 232
8.4.2 Specification of Off-Axis Distance R......Page 234
8.4.3 Specification of Principal Angle ω......Page 235
8.5 Exercises......Page 237
8.6 Further Reading......Page 238
9.1.1 The Graphics Pipeline......Page 240
9.1.2 Central Projection......Page 242
9.1.3 Orthogonal Projection......Page 243
9.1.4 Stereo Projection......Page 244
9.2.1 Triangulation......Page 245
9.2.2 Creating a Digital Surface Model......Page 246
9.2.3 Bump Mapping......Page 247
9.2.4 Improving Triangulated Surfaces......Page 249
9.2.5 Delaunay Triangulation......Page 250
9.3.2 Fast Connectivity......Page 251
9.3.3 Detection and Darning of Holes......Page 253
9.3.4 Detection of Planar Surface Patches......Page 254
9.3.5 Edge Estimation and Edge Correction......Page 256
9.4 Exercises......Page 258
9.5 Further Reading......Page 259
10.1 Determination of Camera Image Coordinates......Page 260
10.1.1 Single-Projection-Center Panoramas......Page 261
10.1.3 Multi-Projection-Center Panoramas with ω<\\neq>0......Page 262
10.1.4 General Case......Page 265
10.2 Texture Mapping......Page 266
10.3 High Resolution Orthophotos......Page 269
10.4 Fusion of Panoramic Images and Airborne Data......Page 270
10.4.1 Airborne Cameras......Page 271
10.4.2 Rectifying Airborne Images and Generation of DSMs......Page 273
10.4.3 Mapping of Terrestrial Side-View Images......Page 274
10.4.4 Mapping of Perspective Airborne Images......Page 276
10.6 Further Reading......Page 278
References......Page 280
Index......Page 286
Color Plates......Page 291