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Panoramic Imaging
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Panoramic Imaging
Sensor-Line Cameras and Laser
Range-Finders
Fay Huang
Institute of Computer Science and Information Engineering, National Ilan University, Taiwan
Reinhard Klette
Department of Computer Science, The University of Auckland, New Zealand
Karsten Scheibe
German Aerospace Center (DLR), Germany
A John Wiley and Sons, Ltd, Publication
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This edition first published 2008
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Library of Congress Cataloging-in-Publication Data
Huang, Fay.
Panoramic imaging : sensor-line cameras and laser range-finders / Fay Huang,
Reinhard Klette, Karsten Scheibe.
p. cm. — (The Wiley-IS&T series in imaging science and technology)
Includes bibliographical references and index.
ISBN 978-0-470-06065-0 (cloth)
1. Photography, Panoramic. 2. Remote sensing. 3. Three-dimensional imaging.
I. Klette, Reinhard. II. Scheibe, Karsten. III. Title.
TR661.H83 2008
778.3 6—dc22
2008036181
A catalogue record for this book is available from the British Library.
ISBN 978-0-470-06065-0
Set in 10/12pt Times by Integra Software Services Pvt. Ltd. Pondicherry, India
Printed in Singapore by Markono
Contents
Preface
xi
Series Preface
xv
Website and Exercises
xvii
List of Symbols
xix
1 Introduction
1
1.1 Panoramas
1
1.1.1 Accurate Panoramic Imaging
1
1.1.2 Importance of Panoramas
2
1.2 Panoramic Paintings
3
1.2.1 Chinese Scrolls
4
1.2.2 European Panoramic Paintings
5
1.3 Panoramic or Wide-Angle Photographs
6
1.3.1 Historic Panoramic Cameras
6
1.3.2 Photogrammetry
7
1.4 Digital Panoramas
9
1.4.1 Image Mosaicing
9
1.4.2 Panoramas by Stitching
10
1.4.3 Catadioptric Panoramas
12
1.4.4 Stereo Panoramic Imaging
14
1.5 Striving for Accuracy
14
1.5.1 A General Perspective on Panoramic Sensors
14
1.5.2 Rotating Sensor-Line Cameras
15
1.5.3 Laser Range-Finder
18
1.6 Exercises
20
1.7 Further Reading
20
2 Cameras and Sensors
23
2.1 Camera Models
23
2.1.1 Capturing Surface and Central Point
23
2.1.2 Pinhole Camera
24
vi
Contents
2.1.3 Ideal Pinhole Camera
25
2.1.4 Sensor-Matrix Cameras
27
2.1.5 Sensor-Line Cameras
27
2.2 Optics
29
2.2.1 Waves and Rays of Light; Law of Refraction
29
2.2.2 Ideal Gaussian Optics
29
2.2.3 Pupil, Aperture, and f -Number
31
2.2.4 Relation to the Pinhole Camera
32
2.3 Sensor Models
34
2.3.1 Rotating Sensor-Line Cameras
34
2.3.2 Rotating Multi-Line Cameras
40
2.3.3 Rotating Sensor-Matrix Cameras
41
2.3.4 Laser Range-Finder
43
2.4 Examples and Challenges
46
2.5 Exercises
48
2.6 Further Reading
48
3 Spatial Alignments
49
3.1 Mathematical Fundamentals
49
3.1.1 Euclidean Spaces and Coordinate Systems
49
3.1.2 2D Manifolds and Surface Normals
53
3.1.3 Vectors, Matrices, and Affine Transforms
55
3.2 Central Projection: World into Image Plane
58
3.2.1 Symmetric Perspective Projections
58
3.2.2 Asymmetric Perspective Projections
58
3.3 Classification of Panoramas
59
3.3.1 Views and Projection Centers
59
3.3.2 Refined Classification
60
3.4 Coordinate Systems for Panoramas
63
3.4.1 Planar Capturing Surface
63
3.4.2 Spherical Capturing Surfaces
65
3.4.3 Cylindrical Capturing Surfaces
65
3.5 Geometric Projection Formula for Cylindrical Panorama
66
3.6 Rotating Cameras
70
3.6.1 Image Vectors and Projection Rays
70
3.6.2 Single-Center Panorama (Ideal Case)
72
3.6.3 Multi-Center Panorama with ω
=
0
73
3.6.4 Multi-Center Panorama with ω
=
0
73
3.6.5 General Case of a Rotating Sensor-Line Camera
74
3.7 Mappings between Different Image Surfaces
75
3.7.1 Reprojection onto a Straight Cylinder
75
3.7.2 Cylindrical Panorama onto Sphere
77
3.7.3 Cylindrical Panorama onto Tangential Plane
77
3.8 Laser Range-Finder
78
3.9 Exercises
79
3.10 Further Reading
80

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