Karsten Scheibe

Panoramic Imaging - Sensor-Line Cameras and Laser Range-Finders -

Preface. Series Preface. Website and Exercises. List of Symbols. 1. Introduction. 1.1 Panoramas 1.2 Panoramic Paintings 1.3 Panoramic or Wide-Angle Photographs 1.4 Digital Panoramas 1.5 Striving for Accuracy 1.6 Exercises 1.7 Further Reading 2. Cameras and Sensors. 2.1 Camera Models 2.2 Optics 2.3 Sensor Models 2.4 Examples and Challenges 2.5 Exercises 2.6 Further Reading 3. Spatial Alignments. 3.1 Mathematical Fundamentals 3.2 Central Projection:World into Image Plane 3.3 Classification of Panoramas 3.4 Coordinate Systems for Panoramas 3.5 General Projection Formula for Cylindrical Panorama 3.6 Rotating Cameras 3.7 Mappings between Different Image Surfaces 3.8 Laser Range-Finder 3.9 Exercises 3.10 Further Reading 4. Epipolar Geometry. 4.1 General Epipolar Curve Equation 4.2 Constrained Poses of Cameras 4.3 Exercises 4.4 Further Reading 5. Sensor Calibration. 5.1 Basics 5.2 Preprocesses for a Rotating Sensor-Line Camera 5.3 A Least-Square Error Optimization Calibration Procedure 5.4 Geometric Dependencies of R and w 5.5 Error Components in LRF Data 5.6 Exercises 5.7 Further Reading 6. Spatial Sampling. 6.1 Stereo Panoramas 6.2 Sampling Structure 6.3 Spatial Resolution 6.4 Distances between Spatial Samples 6.5 Exercises 6.6 Further Reading 7. Image Quality Control. 7.1 Two Requirements 7.2 Terminology 7.3 Parameter Optimization 7.4 Error Analysis 7.5 Exercises 7.6 Further Reading 8. Sensor Analysis and Design. 8.1 Introduction 8.2 Scene Composition Analysis 8.3 Stereoacuity Analysis 8.4 Specification of Camera Parameters 8.5 Exercises 8.6 Further Reading 9. 3D Meshing and Visualization. 9.1 3D Graphics 9.2 Surface Modeling 9.3 More Techniques for Dealing with Digital Surfaces 9.4 Exercises 9.5 Further Reading 10. Data Fusion. 10.1 Determination of Camera Image Coordinates 10.2 Texture Mapping 10.3 High Resolution Orthophotos 10.4 Fusion of Panoramic Images and Airborne Data 10.5 Exercises 10.6 Further Reading References. Index.

EYESCAN - A High Resolution Digital Panoramic Camera

A digital panoramic camera system is introduced consisting of a CCD line scanner and a high precision turntable. This combination allows the use of such a digital imaging systems for photogrammetric, robot vision, artistic and other applications. Additionally, these images with a reduced resolution or parts of it can be used for internet applications. Typical fields of application are photogrammetry in architecture, digital archiving of cultural objects and virtual reality. The imaging geometry causes panoramic distortions, therefore the images must be transformed into plane coordinate systems in order to work with them. Basic equations are given for these projections.

Multi-scale 3d-modeling

This paper reviews 3D-modeling activities at the German DLR Institute of Robotics and Mechatronics, carried out within the last decade in cooperation with partners in Germany (Z+F, Illustrated Architecture, DLR Institutes of Optical Information Systems, and of Planetary Research) and international partners. The main focus is on multisensory (e.g. push-broom or rotating stereo line cameras, laser range finders) information containing (at least) geometry and texture. The paper describes systems which acquire such information at different scales of scenery, ranging from indoor scenes to planetary explorations. It also covers principles and methods for preprocessing, geometric reconstruction, texture mapping, or matching.

Combinations of range data and panoramic images - new opportunities in 3D scene modeling

The paper informs about rotating line cameras (which capture images of several 100 megapixel), their use for creating (stereo) panoramas, and how they can be used for texturing clouds of 3D points representing range data captured with a laser range finder (with distance errors of less than 5cm at about 50m distance to the view point). Problems occur at geometry and photometry level, and there are interesting challenges in algorithm design.

On Design and Applications of Cylindrical Panoramas

The paper briefly overviews the design and applications of cylindrical panoramic cameras characterized by a rotating linear sensor capturing one image column at time. The camera provides very high image resolutions paid by motion distortions in dynamic scenes. The images are used for stereo reconstruction and visualization of static scenes when extremely high image resolution is of benefit.

Calibration of Rotating Sensors

This paper reports about a method for calibrating rotating senors, namely, rotating sensor-line cameras and laser range-finders. Both together are used to reconstruct accurately 3D environments, such as, for example, large buildings. One of the important steps in the 3D reconstruction pipeline is the fusion of data. This requires an understanding of spatial relationships among the acquired data. Sensor calibration is the key to accurate 3D models.

Multi-Sensor Panorama Fusion and Visualization

The paper describes a general approach for scanning and visualizing panoramic (360◦) indoor scenes. It combines range data acquired by a laser range finder with color pictures acquired by a rotating CCD line camera. The paper describes coordinate systems of both sensors, specifies the fusion of range and color data acquired by both sensors, and reports on three different alternatives for visualizing the generated 3D data set. Compared to earlier publications the recent approach also utilizes an improved method for calculating the spatial (geometric) correspondence between laser diode of the laser range finder and the focal point of the rotating CCD line camera. Calibration is not a subject in this paper; we assume that calibrated parameters are available utilizing a method as described in [12].

The asteroid finder focal plane

The DLR Institute of Planetary Exploration has proposed a novel design for a space instrument accommodated on a small satellite bus (SSB) that is dedicated to the detection of inner earth objects (IEOs) from a low earth orbit (LEO). The low pointing stability of the satellite bus, the stray light and thermal environment in LEO represent the major design drivers for achieving the required limiting magnitude of 18.5 (V-band). In order to cope with the design drivers, DLR has proposed a novel focal plane consisting of four Electron Multiplying CCDs (EMCCD) and their associated electronics.