Bundle adjustment with vehicle-based panoramic imagery

A new GPS/IMU supported bundle adjustment method for vehicle-based panoramic image series is presented. Firstly, multi-features are extracted and matched in the separate fisheye images, and the correspondents are then projected to panoramic coordinate with GPS/IMU for gross error elimination. Secondly, the modified perspective transformation model is constructed under the panoramic coordinate, and by the model and GPS/IMU data bundle adjustment is carried out, in which the original weights is set by object´s distance to camera center. After eliminate errors by varying weight method the adjustment results are gotten. The tests results proved that the multi-feature matching method and adjustment method under panoramic coordinate can goodly deal with the tie-points extraction and bundle adjustment for non-plane camera imagery.