Pose Estimation for Sensors Which Capture Cylindric Panoramas

Abstract

This paper shows that there exist linear models for sensor pose estimation for multi-view panoramas defined by a symmetric or leveled pair of cylindric images. It assumes that pairs of corresponding points have been detected already in those pairs of panoramas. For the first time a cost function is formulated whose minimization solves the pose estimation problem for these two general cases of multi-view panoramas, specified by unconstrained sensor parameter values but only minor constraints on sensor poses. (Note that due to the non-linearity of the panoramic projection geometry, the modeling of sensor pose estimation typically results into non-linear forms which incur numerical instability.)