### BMVC 2004, Kingston, 7th-9th Sept, 2004

Constraints on perspective images and circular panoramas

M. Menem and T. Pajdla (Czech Technical University, Prague)

We describe an algebraic constraint on corresponding image points in a perspective

image and a circular panorama and provide a method to estimate

it from noisy image measurements. Studying this combination of cameras

is a step forward in localization and recognition since a database of circular

panoramas captures completely the appearance of objects and scenes, and

perspective images are the simplest query images. The constraint gives a way

to use a RANSAC-like algorithm for image matching. We introduce a general

method to establish constraints between (non-central) images in the form

of a bilinear function of the lifted coordinates of corresponding image points.

We apply the method to obtain an algebraic constraint for a perspective image

and a circular panorama. The algebraic constraints are interpreted geometrically

and the constraints estimated from image data are used to auto-calibrate

cameras and to compute a metric reconstruction of the scene observed. A

synthetic experiment demonstrates that the proposed reconstruction method

behaves favorably in presence of image noise. As a proof of concept, the

constraints are estimated from real images of indoor scenes and used to reconstruct

positions of cameras and to compute a metric reconstruction of the

scene.

(pdf article)