Cylindrical Panorama Camera Stitching With Multi-Sensor Calibration
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Solution Overview
Problem
Existing methods for capturing high-quality panoramic video face challenges in synchronizing and stitching multiple images efficiently, particularly when using a rotating 1D slit-scan camera, which is limited to static landscapes and lacks a straightforward registration process.
Innovation Solution
The solution involves using a multiple imager system with geometric correction and cylindrical mapping circuits to synchronize and stitch images from multiple sensors, employing factory and runtime calibrations to minimize parallax disparity, and dynamic re-alignment to adapt to varying conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a rotating 1D slit-scan camera is used to produce cylindrical panorama directly, then the registration and stitching process is simplified, but the system is limited to capturing static landscape panorama only
Solution Approach 1:
The patent divides the panorama capture task into multiple independent 2D perspective cameras arranged in a specific geometry, where each camera captures a portion of the scene. This segmentation allows the system to handle both static and dynamic scenes while maintaining simplified processing for each individual camera.
Solution Approach 2:
The patent transitions from a 1D slit-scan approach to a multi-camera 2D perspective system, adding spatial dimensionality to the capture architecture. This enables versatile applications including video while maintaining efficient stitching through the use of multiple independent image planes that are later combined.
2Manufacturing precision
If multiple images are captured simultaneously at video rate to produce high quality panorama video, then the video quality is improved, but the synchronization and processing complexity increases
Solution Approach 1:
The patent performs geometric correction and distortion removal on each camera's image plane immediately upon capture, before the stitching process. This preliminary processing simplifies the subsequent stitching operation and enables real-time video rate processing while maintaining high quality output.
Solution Approach 2:
The patent implements a dynamic stitching approach that adapts to varying scene conditions, allowing the system to process multiple images captured simultaneously at video rate. The method dynamically adjusts the stitching parameters based on the captured content while maintaining computational efficiency.
3Measurement precision
If factory and runtime calibrations are employed to minimize parallax disparity, then the panorama accuracy is improved, but the calibration time and complexity increase
Solution Approach 1:
The patent performs factory calibration in advance to determine the geometric relationships between cameras, storing these parameters for later use. This preliminary calibration eliminates the need for time-consuming on-site calibration while maintaining high accuracy in the final panorama output.
Solution Approach 2:
The patent implements runtime calibration that uses feedback from the captured images to fine-tune the stitching parameters. This adaptive approach maintains high panorama accuracy while minimizing the time required during actual operation by only making necessary adjustments based on real-time conditions.
Data Source
AI summary
A panoramic video camera comprises a plurality of image sensors which are configured to capture a plurality of frames at a time; an image processing circuitry configured to generate a frame read signal to read the plurality of frames generated by the plurality of camera sensors, apply a cylindrical mapping function to map the plurality of frames to a cylindrical image plane and stitch the cylindrically mapped plurality of frames together in the cylindrical image plane based on a plurality of projection parameters.