Image Mosaicing. Jinxiang Chai. Source: faculty.cs.tamu.edu/jchai/cpsc641_spring10/lectures/lecture8.ppt
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1 CSCE 641 Computer Graphics: Image Mosaicing Jinxiang Chai Source: faculty.cs.tamu.edu/jchai/cpsc641_spring10/lectures/lecture8.ppt
2 Outline Image registration - How to break assumptions? 3D-2D registration Image mosaicing
3 Mosaics: Stitching Image Together virtual wide-angle camera
4 Basic Procedure Mosaic Procedure
5 Basic Procedure Mosaic Procedure Take a sequence of images from the same position Rotate the camera about its optical center
6 Basic Procedure Mosaic Procedure Take a sequence of images from the same position Rotate the camera about its optical center Compute transformation between second image and first
7 Basic Procedure Mosaic Procedure Take a sequence of images from the same position Rotate the camera about its optical center Compute transformation between second image and first Transform the second image to overlap with the first
8 Basic Procedure Mosaic Procedure Take a sequence of images from the same position Rotate the camera about its optical center Compute transformation between second image and first Transform the second image to overlap with the first Blend the two together to create a mosaic
9 Basic Procedure Mosaic Procedure Take a sequence of images from the same position Rotate the camera about its optical center Compute transformation between second image and first Transform the second image to overlap with the first Blend the two together to create a mosaic If there are more images, repeat
10 Image Mosaic Is a pencil of rays contains all views real camera synthetic camera Can generate any synthetic camera view as long as it has the same center of projection!
11 Image Re-projection mosaic PP The mosaic has a natural interpretation in 3D The images are reprojected onto a common plane The mosaic is formed on this plane Mosaic is a synthetic wide-angle camera
12 Issues in Image Mosaic How to relate two images from the same camera center? - image registration How to re-project images to a common plane? - image warping?? mosaic PP
13 Image Mosaicing Geometric relationship between images
14 Image Mosaicing Image Mosaicing Geometric relationship between images Geometric relationship between images Use 8-parameter projective transformation matrix ' x c b a x ' y h g f e d y
15 Image Mosaicing Geometric relationship between images Use 8-parameter projective transformation matrix x' a b c x y' d e f y 1 g h 1 1 Use a 3D rotation model (one R per image) r r r r 01 f 0 r f 1 r r f 1 f0r f r f 1 Derive it by yourself!
16 Image Mosaicing Geometric relationship between images Use 8-parameter projective transformation matrix Use a 3D rotation model (one R per image) Register all pairwise overlapping images Feature-based registration Pixel-based registration Chain together inter-frame rotations
17 Image Stitching Stitch pairs together, blend, then crop
18 Image Stitching A big image stitched from 5 small images
19 Panoramas What if you want a 360 field of view? mosaic Projection Cylinder
20 Cylindrical Panoramas Steps Re-project each image onto a cylinder Blend Output the resulting mosaic
21 Cylindrical Projection Map 3D point (X,Y,Z) onto cylinder Y Z X unit cylinder
22 Cylindrical Projection Map 3D point (X,Y,Z) onto cylinder Y Z X Convert to cylindrical coordinates unit cylinder unwrapped cylinder
23 Cylindrical Projection Map 3D point (X,Y,Z) onto cylinder Y Z X unit cylinder Convert to cylindrical coordinates Convert to cylindrical image coordinates s defines size of the final image unwrapped cylinder cylindrical image
24 Cylindrical Panoramas A B mosaic Projection Cylinder Cannot map point A to Point B without knowing (X,Y,Z)
25 Cylindrical Panoramas A C B mosaic Projection Cylinder But we can map pp point C (images) to Point B.
26 Cylindrical Warping Given focal length f and dimage center (xc,yc) (X,Y,Z) Y Z X (sin,h,cos)
27 Cylindrical Panoramas Map image to cylindrical or spherical coordinates need known focal length Image 384x300 f = 180 (pixels) f = 280 f = 380
28 Cylindrical Panorama 3D rotation registration of four images taken with a handheld camera.
29 Cylindrical Panorama
30 Recognizing panoramas A fully automatic 2D image stitcher system Input Images Output panorama #1
31 Recognizing panoramas A fully automatic 2D image stitcher system Input Images Output panorama #2
32 Recognizing panoramas A fully automatic 2D image stitcher system Input Images Output panorama #3
33 Recognizing panoramas A fully automatic 2D image stitcher system Input Images - How to recognize which images can be used for panoramas? - How to stitch them automatically?
34 Recognizing panoramas A fully automatic 2D image stitcher system
35 Recognizing panoramas A fully automatic 2D image stitcher system - Image matching with SIFT features - For every image, find the M best images with RANSAC - Form a graph and find connected component in the graph - Stitching and blending.
36 Outline Image registration - How to break assumptions? (cont.) 3D-2D registration Image mosaicing
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