Image warping correction in forming 360 degree panoramic images

摘要

A method for creating a 360 degree panoramic image from multiple images includes (1) computing a gross rotation error &Dgr;R between a first image and a calculated first image rotated to be stitched to a last image, and (2) spreading the gross rotation error &Dgr;R to each pixel on the panoramic image. Spreading the gross rotation error &Dgr;R includes (1) computing a rotation angle &thgr;₀ and rotational axis n₀ from the gross rotational error &Dgr;R, (2) determining an angle &agr; of each pixel, and (3) determining a compensation matrix R_c for each pixel using the following formula: R,(a)=R(2&pgr;/&agr;&thgr;₀). Spreading the gross rotation error &Dgr;R further includes (4) tracing a pixel on the panoramic image to a camera optical center of the images to form a first ray, (5) determining a second ray originating from the camera optical center that would be rotated by the compensation matrix R_c to coincide with the first ray, (6) tracing the second ray to a second pixel on one of the images, and (7) painting the first pixel with color values of the second pixel.