1. 1Jana Kosecka, CS 223b Cylindrical panoramas Cylindrical panoramas

2. Jana Kosecka, CS 223b 2 Rotation Only - Calibrated Case Calibrated Two views related by rotation only Mapping to a reference view – rotation can be estimated Mapping to a cylindrical surface

3. Jana Kosecka, CS 223b 3 Matching SIFT Features [Brown 2003]

4. Jana Kosecka, CS 223b 4 Reject Outliers using RANSAC [Brown 2003]

5. Jana Kosecka, CS 223b 5 Stitching Images [Brown 2003]

6. Jana Kosecka, CS 223b 6 Do we have to project on to a plane ? Camera Center

7. Jana Kosecka, CS 223b 7 Cylindrical Projection Camera Center 360˚ Panorama [Szeliski & Shum 97]

8. Jana Kosecka, CS 223b 8 Map 3D point (X,Y,Z) onto cylinder Cylindrical projection X Y Z unit cylinder unwrapped cylinder Convert to cylindrical coordinates cylindrical image Convert to cylindrical image coordinates

9. Jana Kosecka, CS 223b 9 Cylindrical Projection Y X

10. Jana Kosecka, CS 223b 10 Inverse Cylindrical projection X Y Z (X,Y,Z)(X,Y,Z) (sin ,h,cos  )

11. Jana Kosecka, CS 223b 11 Removing Seams Differences in exposure Vignetting Small misalignments [Brown 2003]

12. Jana Kosecka, CS 223b 12 Multi-band Blending [Burt and Adelson 1983] Multi-resolution technique using image pyramid Hides seams but preserves sharp detail [Brown 2003]