Robust and incremental stitching and calibration with known rotation on pan-tilt-zoom camera

In this paper, we suggest a robust incremental image mosaicing and camera calibration method using rotation information of PTZ camera. In calibration step, we calculate multiple homographies between the image at reference position and the images at differently rotated position, and then we calculate camera matrix with those homographies and rotation matrixes in proposed single linear equation. For image mosacing, we transform the input image with estimated homography calculated with the camera matrix from previous step and rotation angle, and then we calculate more accurate homography using corresponding points between reference image and the transformed input image. By using the rotation information, we can achieve as good result as state-of-the-art trchnology with bundle adjustment even though we use incremental approach.