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Inverse Cylindrical projection

(X,Y,Z)

Y

(sinθ,h,cosθ)

Z X

Cylindrical image stitching

  • What if you don’t know the camera rotation?

    • Solve for the camera rotations

      • Note that a rotation of the camera is a translation of the cylinder!

Problem: Drift

  • Vertical Error accumulation

    • small (vertical) errors accumulate over time

    • apply correction so that sum = 0 (for 360° pan.)

  • Horizontal Error accumulation

    • can reuse first/last image to find the right panorama radius

Cylindrical panoramas

  • Steps

    • Reproject each image onto a cylinder

    • Blend

    • Output the resulting mosaic

  • What are the assumptions here?

Assembling the panorama

  • Stitch pairs together, blend, then crop

Full-view (360°) panoramas

9

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