Pose Estimation for Sensors Which Capture Cylindric Panoramas

Authors:
Fay Huang;Reinhard Klette;Yun-Hao Xie
Affiliations:
Institute of Computer Science and Information Engineering, National Ilan University, Taiwan, R.O.C.;Department of Computer Science, The University of Auckland, New Zealand;Institute of Computer Science and Information Engineering, National Ilan University, Taiwan, R.O.C.
Venue:
CIARP '08 Proceedings of the 13th Iberoamerican congress on Pattern Recognition: Progress in Pattern Recognition, Image Analysis and Applications
Year:
2008

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Abstract

We show that there exist linear models for sensor pose estimation for multi-view panoramas defined by a symmetric or leveled pair of cylindric images. We assume that pairs of corresponding points have been detected already in those pairs of panoramas. For the first time a cost function is formulated whose minimization solves the pose estimation problem for these two general cases of multi-view panoramas, specified by unconstrained sensor parameter values but only minor constraints on sensor poses. (Note that due to the non-linearity of the panoramic projection geometry, the modeling of sensor pose estimation typically results into non-linear forms which incur numerical instability.)