Apparatus and method for providing panoramic images

Abstract

A method and system of merging a pair of images to form a seamless panoramic image including the following steps. A set of feature points are extracted along the edges of the images, each feature point defining an edge orientation. A set of registration parameters is obtained by determining an initial set of feature points from a first one of the images which matches a set of feature points of a second one of the images. A seamless panoramic image is rendered using the first and second images with the set of registration parameters.

What is claimed is: 
     
       1. A method of merging a different pair of images to form a seamless panoramic image comprising:
 extracting a set of feature points along the edges of the images, each feature point defining an edge orientations orientation, wherein extracting the set of feature points along the edges of the images includes applying wavelet transforms to the images; 
 obtaining a set of registration parameters by determining an initial set of feature points from a first one of the images which matches a set of feature points of a second one of the images; and 
 rendering a seamless panoramic image using the first and second images with the set of registration parameters. 
 
     
     
       2. The method of  claim 1 , wherein determining the initial set of matching pairs feature points includes a relaxation technique, including the steps of:
 calculating the edge orientation of each feature point; 
 comparing the an orientation difference between the matching pair; 
 calculating the a value of correlation of the matching pair; and 
 comparing the value of correlation with a predefined threshold. 
 
     
     
       3. The method of  claim 1 , wherein extracting the set of feature points, includes:
 calculating an edge correlation for each image; 
 locating the a feature point whose edge response is the a maxima within a window; 
 comparing the maxima with a predefined threshold. 
 
     
     
       4. The method of  claim 1 , wherein obtaining the set of reliable registration parameters, comprises:
 determining an initial set of matching pairs for registration; 
 calculating a quality value for the initial set of matching pairs; 
 updating the matching result according to the quality value of the match; 
 imposing an angle consistency constraint to filter out impossible matches; and 
 using a voting technique to obtain the registration parameters. 
 
     
     
       5. The method of  claims 1 , wherein rendering the seamless panoramic image comprises:
 dynamically adjusting the intensity differences between adjacent images; and 
 properly blending the an intensity difference between consecutive images. 
 
     
     
       6. A system for merging a pair of images to form a panoramic image comprising:
 an image device which, in operation, acquires a series of the images; 
 a storage for storing the series of images: 
 a memory which stores computer code; and 
 at least one processor which executes the computer code to:
 extract different sets of feature points along the edges of each input image, each feature point defining an edge orientation; 
 extract a set of feature points along the edges of the images by applying wavelet formations to the images, each feature point defining an edge of orientation; 
 obtain a set of registration parameters by determining an initial set of feature points from a first one of the images which matches a set of feature points of a second one of the images; and 
 render a seamless panoramic image using the first and second images with the set of registration parameters. 
 
 
     
     
       7. The system of  claim 6 , wherein the processor extracts the set of feature points, including:
 calculating an edge correlation for each image; 
 locating the a feature point whose edge response is the a maxima within a window; 
 comparing the maxima with a predefined threshold. 
 
     
     
       8. An apparatus for merging a different pair of images to form a seamless panoramic image comprising:
 means for extracting a set of feature points along the edges of the images, one or more feature point defining an edge orientations, wherein said means for extracting the set of feature points along the edges of the images includes means for applying wavelet transforms to the images;   means for obtaining a set of registration parameters by determining an initial set of feature points from a first one of the images which matches a set of feature points of a second one of the images; and   means for rendering a seamless panoramic image using the first and second images with the set of registration parameters.   
     
     
       9. An apparatus as claimed in claim 8, wherein said obtaining means for obtaining a set of registration parameters by determining an initial set of feature points comprises:
 means for calculating the edge orientation of one or more feature points;   means for comparing the orientation difference between the matching pair;   means for calculating the value of correlation of the matching pair; and   means for comparing the value of correlation with a predefined threshold.   
     
     
       10. An apparatus as claimed in claim 8, wherein said obtaining means comprises:
 means for calculating an edge correlation for one or more images;   means for locating the feature point whose edge response is a maxima within a window; and   means for comparing the maxima with a predefined threshold.   
     
     
       11. An apparatus as claimed in claim 8, wherein said obtaining means comprises:
 means for determining an initial set of matching pairs for registration;   means for calculating a quality value for the initial set of matching pairs;   means for updating the matching result according to the quality value of the match;   means for imposing an angle consistency constraint to filter out impossible matches; and   means for using a voting technique to obtain the registration parameters.   
     
     
       12. An apparatus as claimed in claims 8, wherein said rendering comprises:
 means for dynamically adjusting the intensity differences between adjacent images; and   means for properly blending the intensity difference between consecutive images.   
     
     
       13. An article of manufacture comprising a storage medium having instructions stored thereon that, if executed, result in merging of a different pair of images to form a seamless panoramic image by:
 extracting a set of feature points along the edges of the images, each feature point defining an edge orientations, wherein extracting the set of feature points along the edges of the images includes applying wavelet transforms to the images;   obtaining a set of registration parameters by determining an initial set of feature points from a first one of the images which matches a set of feature points of a second one of the images; and   rendering a seamless panoramic image using the first and second images with the set of registration parameters.   
     
     
       14. An article of manufacture as claimed in claim 13, wherein the instructions, if executed, further result in merging of a different pair of images to form a seamless panoramic image by:
 calculating the edge orientation of one or more feature points;   comparing the orientation difference between the matching pair;   calculating the value of correlation of the matching pair; and   comparing the value of correlation with a predefined threshold.   
     
     
       15. An article of manufacture as claimed in claim 13, wherein the instructions, if executed, further result in merging of a different pair of images to form a seamless panoramic image by:
 calculating an edge correlation for each image;   locating the feature point whose edge response is a maxima within a window; and   comparing the maxima with a predefined threshold.   
     
     
       16. An article of manufacture as claimed in claim 13, wherein the instructions, if executed, further result in merging of a different pair of images to form a seamless panoramic image by:
 determining an initial set of matching pairs for registration;   calculating a quality value for the initial set of matching pairs;   updating the matching result according to the quality value of the match;   imposing an angle consistency constraint to filter out impossible matches; and   using a voting technique to obtain the registration parameters.   
     
     
       17. An article of manufacture as claimed in claims 13, wherein the instructions, if executed, further result in merging of a different pair of images to form a seamless panoramic image by:
 dynamically adjusting the intensity differences between adjacent images; and   properly blending the intensity difference between consecutive images.   
     
     
       18. A system for merging a pair of images to form a panoramic image comprising:
 a memory capable of storing one or more images acquired from an image device; and   at least one processor coupled to said memory, said processor being capable of:
 extracting a set of feature points along the edges of the images by applying wavelet formations to the images, one or more feature point defining an edge of orientation; 
 obtaining a set of registration parameters by determining an initial set of feature points from a first one of the images which matches a set of feature points of a second one of the images; and 
 rendering a seamless panoramic image using the first and second images with the set of registration parameters. 
   
     
     
       19. The system as claimed in claim 18, wherein said processor is further capable of:
 calculating an edge correlation for each image;   locating the feature point whose edge response is a maxima within a window; and   comparing the maxima with a predefined threshold.   
     
     
       20. The system as claimed in claim 18, wherein said processor is further capable of:
 determining an initial set of matching pairs for registration;   calculating a quality value for the initial set of matching pairs;   updating the matching result according to the quality value of the match;   imposing an angle consistency constraint to filter out impossible matches; and   using a voting technique to obtain the registration parameters.