System and method for obtaining spherical panorama image

Abstract

An image processing method includes obtaining a plurality of images that are captured using a gimbaled imaging device, obtaining one or more imaging parameters of the gimbaled imaging device, and constructing a panorama image using an imaging scheme that is devised based on the one or more imaging parameters.

What is claimed is: 
     
         1 . An image processing method comprising:
 obtaining a plurality of images that are captured using a gimbaled imaging device;   obtaining one or more imaging parameters of the gimbaled imaging device; and   constructing a panorama image using an imaging scheme that is devised based on the one or more imaging parameters.   
     
     
         2 . The method of  claim 1 , wherein devising the imaging scheme comprises devising the imaging scheme based on a field-of-view (FOV) of the gimbaled imaging device. 
     
     
         3 . The method of  claim 2 , wherein devising the imaging scheme comprises devising the imaging scheme based on at least one of a horizontal angle of the FOV or a vertical angle of the FOV. 
     
     
         4 . The method of  claim 1 , wherein obtaining the one or more imaging parameters of the gimbaled imaging device comprises collecting one or more parameters of a mobile platform associated with the gimbaled imaging device. 
     
     
         5 . The method of  claim 4 , wherein devising the imaging scheme comprises devising the imaging scheme based on a maximum yaw angle or a maximum pitch angle of the mobile platform. 
     
     
         6 . The method of  claim 5 , wherein the mobile platform is an unmanned aerial vehicle (UAV) or a handheld device. 
     
     
         7 . The method of  claim 1 , wherein devising the imaging scheme comprises determining a number of images for constructing the panorama image. 
     
     
         8 . The method of  claim 7 , wherein determining the number of images comprises determining a number of image rows, each image row being associated with a predetermined pitch angle. 
     
     
         9 . The method of  claim 8 , wherein determining the number of images comprises determining a number of images in each of the image rows, each image being associated with a predetermined yaw angle. 
     
     
         10 . The method of  claim 7 , wherein determining the number of images comprises deciding an overlapping area between adjacent images. 
     
     
         11 . The method of  claim 10 , wherein deciding the overlapping area comprises determining a number of rows of images for securing a vertical overlapping area between two images that are adjacent in a longitude direction. 
     
     
         12 . The method of  claim 11 , wherein determining the number of rows comprises securing the vertical overlapping area with an overlapping height not less than a predetermined ratio to a height of either of the two adjacent images. 
     
     
         13 . The method of  claim 11 , wherein deciding the overlapping area comprises deciding a pitch angle for each of the rows of images based on maximum pitch angles in at least one of an upward direction or a downward direction relative to a horizontal direction. 
     
     
         14 . The method of  claim 13 , wherein deciding the pitch angle comprises:
 deciding rows in the upward direction where the pitch angle is above the horizontal direction; or   deciding rows in the downward direction where the pitch angle is below the horizontal direction.   
     
     
         15 . The method of  claim 10 , wherein deciding the overlapping area comprises deciding the number of images in each image row for securing a horizontal overlapping area between two adjacent images that are adjacent in a latitude direction. 
     
     
         16 . The method of  claim 15 , wherein deciding the number of images comprises securing the horizontal overlapping area with a width not less than a predetermined ratio to a width of either of the two adjacent images. 
     
     
         17 . The method of  claim 16 , further comprising deciding a yaw angle for each of the images in an image row based on a complete horizontal rotation and the number of images in each image row. 
     
     
         18 . The method of  claim 1 , further comprising selecting an anchor image for the panorama image, comprising choosing the anchor image to be either a top image or a bottom image of the panorama image. 
     
     
         19 . A non-transitory computer readable storage medium storing instructions that, when executed by one or more processors, cause the one or more processors to, individually or collectively:
 obtain a plurality of images that are captured using a gimbaled imaging device;   obtain one or more imaging parameters of the gimbaled imaging device; and   construct a panorama image using an imaging scheme that is devised based on said one or more imaging parameters.   
     
     
         20 . A system comprising:
 one or more processors; and   a non-transitory computer readable storage medium storing instructions that, when executed by the one or more processors, cause the one or more processors to individually or collectively:
 obtain a plurality of images that are captured using a gimbaled imaging device; 
 obtain one or more imaging parameters of the gimbaled imaging device; and 
 construct a panorama image using an imaging scheme that is devised based on said one or more imaging parameters.