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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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**Cylindrical panoramas**Jana Kosecka, CS 223b**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**Matching SIFT Features**[Brown 2003] Jana Kosecka, CS 223b**Reject Outliers using RANSAC**[Brown 2003] Jana Kosecka, CS 223b**Stitching Images**[Brown 2003] Jana Kosecka, CS 223b**Do we have to project on to a plane ?**Camera Center Jana Kosecka, CS 223b**Cylindrical Projection**360˚ Panorama [Szeliski & Shum 97] Camera Center Jana Kosecka, CS 223b**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**Cylindrical Projection**Y X Jana Kosecka, CS 223b**Inverse Cylindrical projection**(X,Y,Z) (sinq,h,cosq) Y Z X Jana Kosecka, CS 223b**Removing Seams**• Differences in exposure • Vignetting • Small misalignments [Brown 2003] Jana Kosecka, CS 223b**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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