Panorama Stitching Presenter Hao Wang R 05921094 Advisor

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Panorama Stitching 全景拼接 Presenter: Hao Wang R 05921094 Advisor: Professor Ren C. Luo Date:

Panorama Stitching 全景拼接 Presenter: Hao Wang R 05921094 Advisor: Professor Ren C. Luo Date: 4. 28. 2017 National Taiwan University Graduate Institute of Electrical Engineering

I. Demo National Taiwan University Graduate Institute of Electrical Engineering 2

I. Demo National Taiwan University Graduate Institute of Electrical Engineering 2

最初設想 National Taiwan University Graduate Institute of Electrical Engineering 4

最初設想 National Taiwan University Graduate Institute of Electrical Engineering 4

實際結果 National Taiwan University Graduate Institute of Electrical Engineering 5

實際結果 National Taiwan University Graduate Institute of Electrical Engineering 5

主要步驟 ①获得單張圖片SIFT点和描述符 軟體應用狀況: • Matlab Get SIFT points and descriptors • vlfeat-0. 9. 20

主要步驟 ①获得單張圖片SIFT点和描述符 軟體應用狀況: • Matlab Get SIFT points and descriptors • vlfeat-0. 9. 20 ②匹配兩張圖片SIFT描述符 • Qt Creator 4. 1. 0 Matching SIFT Descriptors • Opencv 2. 4. 12 ③拟合变换矩阵 Fitting the Transformation Matrix ④隨機抽樣一致 RANdom SAmple Consensus RANSAC ⑤生成兩張圖像全景拼接 Stitching two images ⑥多张图片的有序序列拼接 Stitching ordered sequence of multiple images ⑦全景圖片完整一體化,無邊沿及拼接處棱角 Panoramic picture fully National Taiwan University Graduate Institute of Electrical Engineering

Matlab程式設計流程圖 National Taiwan University Graduate Institute of Electrical Engineering

Matlab程式設計流程圖 National Taiwan University Graduate Institute of Electrical Engineering

SIFT 特徵匹配及拼接演算法流程圖 National Taiwan University Graduate Institute of Electrical Engineering

SIFT 特徵匹配及拼接演算法流程圖 National Taiwan University Graduate Institute of Electrical Engineering

SIFT 演算法特性分析表 National Taiwan University Graduate Institute of Electrical Engineering

SIFT 演算法特性分析表 National Taiwan University Graduate Institute of Electrical Engineering

SIFT matches National Taiwan University Graduate Institute of Electrical Engineering 順序圖片拼接

SIFT matches National Taiwan University Graduate Institute of Electrical Engineering 順序圖片拼接

RANSAC inliers National Taiwan University Graduate Institute of Electrical Engineering 順序圖片拼接

RANSAC inliers National Taiwan University Graduate Institute of Electrical Engineering 順序圖片拼接

人眼實際觀察景物效果圖 National Taiwan University Graduate Institute of Electrical Engineering

人眼實際觀察景物效果圖 National Taiwan University Graduate Institute of Electrical Engineering

第一類問題解決 Edge detection National Taiwan University Graduate Institute of Electrical Engineering + circular transformation

第一類問題解決 Edge detection National Taiwan University Graduate Institute of Electrical Engineering + circular transformation

第二類問題解決 National Taiwan University Graduate Institute of Electrical Engineering

第二類問題解決 National Taiwan University Graduate Institute of Electrical Engineering

Gain compensation multi-band blending National Taiwan University Graduate Institute of Electrical Engineering 順序圖片拼接

Gain compensation multi-band blending National Taiwan University Graduate Institute of Electrical Engineering 順序圖片拼接

Gain compensation multi-band blending National Taiwan University Graduate Institute of Electrical Engineering 順序圖片拼接 (a)已註冊的一半圖像

Gain compensation multi-band blending National Taiwan University Graduate Institute of Electrical Engineering 順序圖片拼接 (a)已註冊的一半圖像 (b)無補償

Gain compensation multi-band blending National Taiwan University Graduate Institute of Electrical Engineering 順序圖片拼接 (c)獲得補償

Gain compensation multi-band blending National Taiwan University Graduate Institute of Electrical Engineering 順序圖片拼接 (c)獲得補償 (d)增益補償和多頻段混合

多圖順序圖片拼接 National Taiwan University Graduate Institute of Electrical Engineering

多圖順序圖片拼接 National Taiwan University Graduate Institute of Electrical Engineering

亂序圖片拼接 National Taiwan University Graduate Institute of Electrical Engineering

亂序圖片拼接 National Taiwan University Graduate Institute of Electrical Engineering

亂序圖片拼接 National Taiwan University Graduate Institute of Electrical Engineering

亂序圖片拼接 National Taiwan University Graduate Institute of Electrical Engineering

亂序圖片拼接 National Taiwan University Graduate Institute of Electrical Engineering 24

亂序圖片拼接 National Taiwan University Graduate Institute of Electrical Engineering 24

未來研究之探討——VR與全景相機 l高像素 l快速成像 l佔用更少內存 VR技術與全景相機 National Taiwan University Graduate Institute of Electrical Engineering

未來研究之探討——VR與全景相機 l高像素 l快速成像 l佔用更少內存 VR技術與全景相機 National Taiwan University Graduate Institute of Electrical Engineering

未來研究之探討——Photoshop National Taiwan University Graduate Institute of Electrical Engineering

未來研究之探討——Photoshop National Taiwan University Graduate Institute of Electrical Engineering

未來研究之探討——智能手機 APP National Taiwan University Graduate Institute of Electrical Engineering 10800× 2378 pix 5.

未來研究之探討——智能手機 APP National Taiwan University Graduate Institute of Electrical Engineering 10800× 2378 pix 5. 78 MB

REFERENCES [1]Agarwala, A. , Dontcheva, M. , Agarwala, M. , Drucker, S. , Colburn,

REFERENCES [1]Agarwala, A. , Dontcheva, M. , Agarwala, M. , Drucker, S. , Colburn, A. , Curless, B. , Salesin, D. , and Cohen, M. 2004. Interactive digital photomontage. In ACM Transactions on Graphics (SIGGRAPH'04). [2]Burt, P. and Adelson, E. 1983. A multiresolution spline with application to image mosaics. ACM Transactions on Graphics, 2(4): 217– 236. [3]Matthew Brown, and David G. Lowe. 2007. Automatic Panoramic Image Stitching using Invariant Features. International Journal of Computer Vision, 74(1), 59– 73 [4]Brown, M. , Szeliski, R. , and Winder, S. 2005. Multi-image matching using multi-scale oriented patches. In Proceedings of the Interational Conference on Computer Vision and Pattern Recognition (CVPR 05). San Diego. [5]O. S. Kwon, Y. H. Ha, "Panoramic Video Using Scale-Invariant Feature Transform with Embedded Color-Invariant Values, " IEEE Transactions on Consumer Electronics, vol. 56, no. 2, pp. 792 -798, May 2010 [6] L. Wang and F. Wang, “Intelligent calibration method of low cost MEMS inertial measurement unit for an FPGA-based navigation system, ” International J. of Intelligent Engineering and Systems, vol. 4, no. 2, pp. 32 -41, 2011. [7] S. Kim, C. Coffin, T. Hollerer, "Robust Relocalization and Its Evaluation for Online Environment Map Construction, " IEEE Transactions on Visualization and Computer Graphics, vol. 17, no. 7, pp. 875 -887, Jul. 2011 National Taiwan University Graduate Institute of Electrical Engineering 29

REFERENCES [8] W. Feng, S. Liu, and S. Yang, “A calibration method of three-axis

REFERENCES [8] W. Feng, S. Liu, and S. Yang, “A calibration method of three-axis magnetic sensor based on ellipsoid fitting, ” J. of Information & Computational Science, vol. 10, no. 6, pp. 1551 -1558, 2013. [9] M. -J. Tsai, C. -L. Kao, and J. Liu, “The gentle spherical panorama image construction for the web navigation system, ” in Acoustics Speech and Signal Processing (ICASSP), 2010 IEEE International Conference on, 2010, pp. 1578– 1581. [10]A. Fakhri, Z. Zhou, and J. Hu, “A Comparative Analysis of Orientation Estimation Filters using MEMS based IMU, ” in Proc. 2 nd International Conference on Research in Science, Engineering and Technology (ICRSET’ 2014), 2014, pp. 86 -91. [11] B. S. Kim, S. H. Lee, N. I. Cho, "Real-time Panorama Canvas of Natural Images, " IEEE Transactions on Consumer Electronics, vol. 57, no. 4, pp. 1961 -1968, Nov. 2011 [12] R. Szeliski, M. Uyttendaele, and D. Steedly, “Fast poisson blending using multisplines, ” in Proc. IEEE International Conf. on Computational Photography, 2011. [13] X. Guan, L. -K. Shark, G. Hall, and W. Deng, “Distortion correction for immersive navigation in spherical image environment, ” in Cyber. Worlds, 2009. CW ’ 09. International Conference on, 2009, pp. 96– 101. [14] I. S. Kholopov, “Development of strapdown inertial navigation system with MEMS sensors, barometric altimeter and ultrasonic range meter, ” in Proc. IOP Conference Series: Materials Science and Engineering, P. 012060, 2015. National Taiwan University Graduate Institute of Electrical Engineering 30

希望大家能夠拼接出自己的全景人生 Fig. 1: 3 D Linear Inverted Pendulum with finite-sized foot model together with

希望大家能夠拼接出自己的全景人生 Fig. 1: 3 D Linear Inverted Pendulum with finite-sized foot model together with the full robot in background. National Taiwan University Graduate Institute of Electrical Engineering 31

Thank you The End National Taiwan University Graduate Institute of Electrical Engineering 32

Thank you The End National Taiwan University Graduate Institute of Electrical Engineering 32