Real-time panorama image synthesis by fast camera pose estimation

This paper proposes a fast panorama synthesis algorithm that runs on a mobile devices real-time. Like most existing methods, the proposed method consists of following steps: feature tracking, rotation matrix estimation, and image warping on a targeting plane, where the feature tracking is usually a bottleneck for real-time implementation. Hence, we propose to track the features on a virtual sphere surface instead of projected surface or image domain as in the conventional methods. By performing the feature tracking on the sphere, the camera pose can be found by linear and non-iterative least squares method, which was usually obtained by nonlinear and iterative methods. The fast estimation of camera pose can make outlier rejection more robust since the camera pose can be inferred from the hypotheses by one iteration, which can´t be done in real-time by iterative estimation. We also propose a two-step blending algorithm, i.e., celling-filling followed by linear blending along the cell boundary. The panorama canvas is partitioned into many cells where each cell contains pixels from the same shot. Hence there is no stitching seam within the cell and only the boundaries need to be blended, which reduces the stitching artifacts significantly.