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Calibrated Cylindrical Panorama Stitching and Multi-Band Blending Techniques

This document outlines the process of creating calibrated cylindrical panoramas, focusing on methods for stitching images together using techniques like RANSAC for outlier rejection and SIFT feature matching. It discusses the mapping of two views related by rotation, cylindrical projection, and converting 3D points onto a cylinder. Additionally, it addresses common issues in image stitching such as exposure differences, vignetting, and misalignments, while introducing multi-band blending as a solution for preserving detail and hiding seams.

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Calibrated Cylindrical Panorama Stitching and Multi-Band Blending Techniques

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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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