Panoramic Imaging Sensor-Line Cameras and Laser Range-Finders

by Huang, Fay; Klette, Reinhard; Scheibe , Karsten

• ISBN13: 9780470060650
• ISBN10: 0470060654
• Edition: 1st
• Format: Hardcover
• Copyright: 2008-11-17
• Publisher: Wiley

Summary

Panoramic imaging is a progressive application and research area. This technology has applications in digital photography, robotics, film productions for panoramic screens, architecture, environmental studies, remote sensing and GIS technology. Applications demand different levels of accuracy for 3D documentation or visualizations. This book describes two modern technologies for capturing high-accuracy panoramic images and range data, namely the use of sensor-line cameras and laser range-finders. It provides mathematically accurate descriptions of the geometry of these sensing technologies and the necessary information required to apply them to 3D scene visualization or 3D representation. The book is divided into three parts: Part One contains a full introduction to panoramic cameras and laser range-finders, including a discussion of calibration to aid preparation of equipment ready for use. Part Two explains the concept of stereo panoramic imaging, looking at epipolar geometry, spatial sampling, image quality control and camera analysis and design. Part Three looks at surface modelling and rendering based on panoramic input data, starting with the basics and taking the reader through to more advanced techniques such as the optimization of surface meshes and data fusion. There is also an accompanying website containing high-resolution visual samples and animations, illustrating techniques discussed in the text. Panoramic Imaging is primarily aimed at researchers and students in engineering or computer science involved in using imaging technologies for 3D visualization or 3D scene reconstruction. It is also of significant use as an advanced manual to practising engineers in panoramic imaging. In brief, the book is of value to all those interested in current developments in multimedia imaging technology

Author Biography

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

Table of Contents

Preface	p. xi
Series Preface	p. xv
Website and Exercises	p. xvii
List of Symbols	p. xix
Introduction	p. 1
Panoramas	p. 1
Accurate Panoramic Imaging	p. 1
Importance of Panoramas	p. 2
Panoramic Paintings	p. 3
Chinese Scrolls	p. 4
European Panoramic Paintings	p. 5
Panoramic or Wide-Angle Photographs	p. 6
Historic Panoramic Cameras	p. 6
Photogrammetry	p. 7
Digital Panoramas	p. 9
Image Mosaicing	p. 9
Panoramas by Stitching	p. 10
Catadioptric Panoramas	p. 12
Stereo Panoramic Imaging	p. 14
Striving for Accuracy	p. 14
A General Perspective on Panoramic Sensors	p. 14
Rotating Sensor-Line Cameras	p. 15
Laser Range-Finder	p. 18
Exercises	p. 20
Further Reading	p. 20
Cameras and Sensors	p. 23
Camera Models	p. 23
Capturing Surface and Central Point	p. 23
Pinhole Camera	p. 24
Ideal Pinhole Camera	p. 25
Sensor-Matrix Cameras	p. 27
Sensor-Line Cameras	p. 27
Optics	p. 29
Waves and Rays of Light; Law of Refraction	p. 29
Ideal Gaussian Optics	p. 29
Pupil, Aperture, and f-Number	p. 31
Relation to the Pinhole Camera	p. 32
Sensor Models	p. 34
Rotating Sensor-Line Cameras	p. 34
Rotating Multi-Line Cameras	p. 40
Rotating Sensor-Matrix Cameras	p. 41
Laser Range-Finder	p. 43
Examples and Challenges	p. 46
Exercises	p. 48
Further Reading	p. 48
Spatial Alignments	p. 49
Mathematical Fundamentals	p. 49
Euclidean Spaces and Coordinate Systems	p. 49
2D Manifolds and Surface Normals	p. 53
Vectors, Matrices, and Affine Transforms	p. 55
Central Projection: World into Image Plane	p. 58
Symmetric Perspective Projections	p. 58
Asymmetric Perspective Projections	p. 58
Classification of Panoramas	p. 59
Views and Projection Centers	p. 59
Refined Classification	p. 60
Coordinate Systems for Panoramas	p. 63
Planar Capturing Surface	p. 63
Spherical Capturing Surfaces	p. 65
Cylindrical Capturing Surfaces	p. 65
Geometric Projection Formula for Cylindrical Panorama	p. 66
Rotating Cameras	p. 70
Image Vectors and Projection Rays	p. 70
Single-Center Panorama (Ideal Case)	p. 72
Multi-Center Panorama with [omega] = 0	p. 73
Multi-Center Panorama with [omega] [not equal] 0	p. 73
General Case of a Rotating Sensor-Line Camera	p. 74
Mappings between Different Image Surfaces	p. 75
Reprojection onto a Straight Cylinder	p. 75
Cylindrical Panorama onto Sphere	p. 77
Cylindrical Panorama onto Tangential Plane	p. 77
Laser Range-Finder	p. 78
Exercises	p. 79
Further Reading	p. 80
Epipolar Geometry	p. 81
General Epipolar Curve Equation	p. 81
Constrained Poses of Cameras	p. 89
Leveled Panoramic Pair	p. 89
Co-axial Panoramic Pair	p. 95
Symmetric Panoramic Pair	p. 96
Exercises	p. 97
Further Reading	p. 98
Sensor Calibration	p. 99
Basics	p. 99
Camera Calibration	p. 99
Extrinsic and Intrinsic Parameters	p. 101
Registration and Calibration	p. 102
Preprocesses for a Rotating Sensor-Line Camera	p. 103
Precalibration	p. 103
Correction of Color Shift	p. 106
Radiometric Corrections	p. 110
Geometric Corrections	p. 110
Correction of Mechanical Vibrations	p. 112
A Least-Square Error Optimization Calibration Procedure	p. 113
Collinearity Equations	p. 113
Difference between Planar Capturing Surface and Panoramic Cylinder	p. 115
Parameters and Objective Functions	p. 116
General Error Criterion	p. 117
Discussion	p. 119
Geometric Dependencies of R and [omega]	p. 120
Three Methods	p. 120
Focal Length and Central Row	p. 121
Point-based Approach	p. 124
Image Correspondence Approach	p. 125
Parallel-line-based Approach	p. 129
Experimental Results	p. 135
Error Components in LRF Data	p. 138
LRF Used in Experiments	p. 138
Error Measurement	p. 138
Exercises	p. 143
Further Reading	p. 144
Spatial Sampling	p. 145
Stereo Panoramas	p. 145
Sampling Structure	p. 145
Outward Case	p. 146
Inward Case	p. 149
Spatial Resolution	p. 152
Indexing System	p. 152
Computation of Resolution	p. 155
Distances between Spatial Samples	p. 157
Basic Definitions	p. 157
Horizontal Sample Distance	p. 159
Vertical Sample Distance	p. 162
Depth Sample Distance	p. 163
Exercises	p. 165
Further Reading	p. 166
Image Quality Control	p. 167
Two Requirements	p. 167
Terminology	p. 169
Range of Interest in the Scene	p. 169
Distance to Target Range	p. 170
Depth, Disparity, and Angular Disparity	p. 171
Image Resolution	p. 173
Parameter Optimization	p. 175
Off-Axis Distance R and Principal Angle [omega]	p. 175
Examples	p. 179
Error Analysis	p. 181
Definitions and Notation	p. 181
Parameter Dependencies	p. 181
Error in the Distance to Inner Border of RoI	p. 182
Error in the Distance to Outer Border of RoI	p. 184
Error in the Distance to Target Range	p. 186
Exercises	p. 188
Further Reading	p. 189
Sensor Analysis and Design	p. 191
Introduction	p. 191
Scene Composition Analysis	p. 192
Simplifications, Main Focus, and Layout	p. 192
Geometric Analysis	p. 193
Algebraic Analysis	p. 197
Stereoacuity Analysis	p. 201
Geometric Analysis	p. 201
Algebraic Analysis	p. 206
Specification of Camera Parameters	p. 209
Analysis of Scene Ranges	p. 209
Specification of Off-Axis Distance R	p. 211
Specification of Principal Angle [omega]	p. 212
Exercises	p. 214
Further Reading	p. 215
3D Meshing and Visualization	p. 217
3D Graphics	p. 217
The Graphics Pipeline	p. 217
Central Projection	p. 219
Orthogonal Projection	p. 220
Stereo Projection	p. 221
Surface Modeling	p. 222
Triangulation	p. 222
Creating a Digital Surface Model	p. 223
Bump Mapping	p. 224
Improving Triangulated Surfaces	p. 226
Delaunay Triangulation	p. 227
More Techniques for Dealing with Digital Surfaces	p. 228
Basic Filters	p. 228
Fast Connectivity	p. 228
Detection and Darning of Holes	p. 230
Detection of Planar Surface Patches	p. 231
Edge Estimation and Edge Correction	p. 233
Exercises	p. 235
Further Reading	p. 236
Data Fusion	p. 237
Determination of Camera Image Coordinates	p. 237
Single-Projection-Center Panoramas	p. 238
Multi-Projection-Center Panoramas with [omega] = 0	p. 239
Multi-Projection-Center Panoramas with [omega] [not equal] 0	p. 239
General Case	p. 242
Texture Mapping	p. 243
High Resolution Orthophotos	p. 246
Fusion of Panoramic Images and Airborne Data	p. 247
Airborne Cameras	p. 248
Rectifying Airborne Images and Generation of DSMs	p. 250
Mapping of Terrestrial Side-View Images	p. 251
Mapping of Perspective Airborne Images	p. 253
Exercises	p. 255
Further Reading	p. 255
References	p. 257
Index	p. 263
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