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US6078701A
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Method and apparatus for performing local to global multiframe alignment to construct mosaic images
Assignee: Sarnoff Corp
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Filing: 1998-05-29
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Granted: 2000-06-20
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Expires: 2018-05-29
Abstract
Abstract A method and apparatus that determines the topology of a sequence of images and then globally aligns the images with respect to each image's neighboring images. The apparatus includes a topology determination module, a local coarse registration module, a local fine registration module, a global consistency module, and a color matching/blending module. To accurately render a mosaic image from a sequence of images the topology determination and global alignment processes are iterated to progressively produce accurately aligned images. The apparatus efficiently and accurately combines a plurality of source images into a seamless panoramic mosaic representation of a scene, of arbitrarily wide spatial and angular extent, regardless of the order of image acquisition.
Inventors
- 👤 Stephen Charles Hsu
- 👤 Rakesh Kumar
- 👤 Harpreet Singh Sawhney
- 👤 James R. Bergen
- 👤 Doug Dixon
- 👤 Vince Paragano
- 👤 Gary Gendel
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-31 21:10
CPC Classifications
G; G06; G06T; G06T11/00; G06T3/00; G06T3/40; G06T3/4038; G06T7/00; G06T7/30; G06T7/32; G06T7/33; G06V; G06V10/00; G06V10/20; G06V10/24; H; H04; H04N; H04N19/00; H04N19/20; H04N19/23; G06V10/10; G06V10/16
Claims Analysis
Total Claims: 23
Claim 1
Independent Claim
76 words
A method of registering a plurality of images comprising the steps of: (a) determining a topology of the plurality of images that identifies the images in the plurality of images that are neighbors as neighboring images; (b) locally registering the neighboring images to one another to produce parameters that define the relationship of the neighboring images to one another; and (c) performing a global consistency computation to optimize the parameters with respect to a reference surface.
Claim 2
Independent Claim
76 words
A method of registering a plurality of images comprising the steps of: (a) determining a topology of the plurality of images that identifies the images in the plurality of images that are neighbors as neighboring images; (b) locally registering the neighboring images to one another to produce parameters that define the relationship of the neighboring images to one another; and (c) performing a global consistency computation to optimize the parameters with respect to a reference surface.
Claim 3
Dependent Claim
16 words
The method of claim 1 wherein steps (a) and (b) are repeated to produce said parameters.
Claim 4
Dependent Claim
32 words
The method of claim 1 wherein step (b) further comprises: (b') coarsely registering said neighboring images to produce coarse parameters; and (b") finely registering said neighboring images to produce fine registration parameters.
Claim 5
Dependent Claim
25 words
The method of claim 3 wherein, depending on an accuracy of the image registration that is desired, steps (b'), (b") or both steps are performed.
Claim 6
Dependent Claim
22 words
The method of claim 1 further comprising the steps of: rendering a mosaic of the plurality of images using the optimized parameters.
Claim 7
Dependent Claim
13 words
The method of claim 1 wherein the reference surface is an arbitrary surface.
Claim 8
Dependent Claim
23 words
The method of claim 1 wherein said arbitrary surface is a planar surface, a cylindrical surface, a spherical surface, or a conical surface.
Claim 9
Dependent Claim
83 words
Apparatus of registering a plurality of images comprising: a topology determination module for determining a topology of the plurality of images that identifies the images in the plurality of images that are neighbors as neighboring images; a registration module for locally registering the neighboring images to one another to produce parameters that define the relationship of the neighboring images to one another; and a global consistency module for performing a global consistency computation to optimize the parameters with respect to a reference surface.
Claim 10
Dependent Claim
83 words
Apparatus of registering a plurality of images comprising: a topology determination module for determining a topology of the plurality of images that identifies the images in the plurality of images that are neighbors as neighboring images; a registration module for locally registering the neighboring images to one another to produce parameters that define the relationship of the neighboring images to one another; and a global consistency module for performing a global consistency computation to optimize the parameters with respect to a reference surface.
Claim 11
Dependent Claim
21 words
The apparatus of claim 8 wherein the topology determination module and the registration module are repeatedly utilized to produce said parameters.
Claim 12
Dependent Claim
41 words
The apparatus of claim 8 wherein the registration module further comprises: a coarse registration module for coarsely registering said neighboring images to produce coarse parameters; and a fine registration module for finely registering said neighboring images to produce fine registration parameters.
Claim 13
Dependent Claim
34 words
The apparatus of claim 10 wherein, depending on an accuracy of the image registration that is desired, the coarse registration module, the fine registration module or both modules are used to register neighboring images.
Claim 14
Dependent Claim
24 words
The apparatus of claim 8 further comprising: a color matching/blending module for rendering a mosaic of the plurality of images using the optimized parameters.
Claim 15
Dependent Claim
13 words
The apparatus of claim 8 wherein the reference surface is an arbitrary surface.
Claim 16
Dependent Claim
23 words
The apparatus of claim 8 wherein said arbitrary surface is a planar surface, a cylindrical surface, a spherical surface, or a conical surface.
Claim 17
Dependent Claim
95 words
A digital storage medium containing an executable program that, when executed upon a computer, causes the computer to perform a method of registering a plurality of images comprising the steps of: (a) determining a topology of the plurality of images that identifies the images in the plurality of images that are neighbors as neighboring images; (b) locally registering the neighboring images to one another to produce parameters that define the relationship of the neighboring images to one another; and (c) performing a global consistency computation to optimize the parameters with respect to a reference surface.
Claim 18
Dependent Claim
95 words
A digital storage medium containing an executable program that, when executed upon a computer, causes the computer to perform a method of registering a plurality of images comprising the steps of: (a) determining a topology of the plurality of images that identifies the images in the plurality of images that are neighbors as neighboring images; (b) locally registering the neighboring images to one another to produce parameters that define the relationship of the neighboring images to one another; and (c) performing a global consistency computation to optimize the parameters with respect to a reference surface.
Claim 19
Dependent Claim
19 words
The medium of claim 15 wherein steps (a) and (b) of said method are repeated to produce said parameters.
Claim 20
Dependent Claim
35 words
The medium of claim 15 wherein step (b) of said method further comprises: (b') coarsely registering said neighboring images to produce coarse parameters; and (b") finely registering said neighboring images to produce fine registration parameters.
Claim 21
Dependent Claim
28 words
The medium of claim 17 wherein, depending on an accuracy of the image registration that is desired, steps (b'), (b") or both steps are performed by the method.
Claim 22
Dependent Claim
25 words
The medium of claim 15 wherein the method further performs the steps of: rendering a mosaic of the plurality of images using the optimized parameters.
Claim 23
Dependent Claim
13 words
The medium of claim 15 wherein the reference surface is an arbitrary surface.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2003-06-20 | 2003-12-20 | 2004-06-20 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2007-06-20 | 2007-12-20 | 2008-06-20 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2011-06-20 | 2011-12-20 | 2012-06-20 | $7700.00 | Window Closed / Lapsed |