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Orientation and Pose estimation for Panoramic Imagery

Laganiere R., Kangni F.

Machine Graphics and Vision

2010

Vol. 19, No. 3

339-363

In a database of geo-referenced images, determining the exact position of each panorama is an important step in order to ensure the consistency of visual information. This paper addresses the problem of camera pose recovery from spherical (360°) panoramas. The 3D information is extracted from a database of panoramic images sparsely distributed over a scene of interest. We present a two-stage algorithm to recover the position of omni-directional cameras using pair wise essential matrices. First, all rotations with respect to the world frame are found using an incremental bundle adjustment procedure, thus achieving what we call panorama alignment. Full camera positions are then computed using bundle adjustment. During this step, the previously computed panorama orientations, used to feed the global optimization process, can be further refined. Results are shown for indoor and outdoor panorama sets.