Characterization of errors in compositing panoramic images

In this paper we describe the effect of errors in the intrinsic camera parameters on reconstructed panoramic images. A panoramic image is created by first capturing a sequence of images while rotating the camera about a vertical axis a full 360/spl deg/. The subsequent steps are projecting the original rectilinear images onto cylindrical surfaces and compositing them to form the panoramic image. Our analysis has led to a technique that allows simultaneous recovery of the camera focal length and properly composited panoramic images. The correct focal length can be determined by iterating the processes of projecting the original rectilinear images onto cylindrical surfaces given an estimate of the focal length and compositing the resulting images to yield an increasingly better estimate of the focal length. This paper shows that the convergence towards the correct focal length is exponential.