24 September 1993 Photogrammetric techniques for panoramic cameras
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Abstract
In this paper, a general model for panoramic cameras is described including options of different methods of forward motion compensation. A Levenberg-Marquardt based parameter estimation program is used to estimate camera parameters from ground control points or image correspondences. The model has 16 parameters including ones for describing the orientation and location of the camera, the velocity of motion of the camera, forward motion control parameters as well as internal parameters such as scale, principal point offsets and digitizing parameters (for use if the panoramic image is digitized from film). An important feature of the parameter solution method is that no initialization of the camera parameters is necessary, except knowledge of the sweep direction, which is usually obvious since the image is far wider in the sweep direction than the cross-sweep direction. The parameter solving program will automatically find an accurate initial parameter estimation and refine it by iteration to the best solution.
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Richard I. Hartley, Richard I. Hartley, } "Photogrammetric techniques for panoramic cameras", Proc. SPIE 1944, Integrating Photogrammetric Techniques with Scene Analysis and Machine Vision, (24 September 1993); doi: 10.1117/12.155798; https://doi.org/10.1117/12.155798
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