确定两个360x180等矩形全景图像之间的相机旋转 [英] Determine camera rotation between two 360x180 equirectangular panoramic images

问题描述

我有n帧360x180全景图像.我想根据两个连续图像之间的比较来确定相机的旋转角度.对于该项目，可以安全地假设图像中可见的所有特征都是无限远的.

I have n frames of 360x180 panoramic images. I'd like to determine the camera's rotation based on the comparison between two sequential images. For this project it's safe to assume that all features visible in the images are at infinity.

我(今天)对OpenCV还是陌生的，肯定需要做更多的阅读.我有一个应用程序可以使用SIFT或SURF找到关键点，但是不确定如何从此处继续.

I am new (today) to OpenCV and definitely need to do more reading. I have an app that will find the KeyPoints using either SIFT or SURF, but am unsure of how to continue from here.

谢谢

推荐答案

要查找图像之间的旋转，您需要了解图像的方向，因此要了解姿势.要计算相机姿态，您需要从关键点匹配中找到单应性变换.

To find the rotation between to images you need to know orientation of both, and therefore, the pose. To calculate the camera pose you need to find homography transformation from keypoints matches.

假设您知道第一帧的方向和位置，因为您可以任意决定.您有SIFT提取的关键点.从这里开始下一步:

Imagine you know the orientation of the first frame and position, because you decide it arbitrarily. You have the keypoints extracted by SIFT. From here you have next steps:

1-从下一帧中提取关键点.

1- Extract keypoints from next frame.

2-查找两个帧上关键点的匹配项.

2- Find matches of the keypoints on both frames.

3-使用RANSAC查找下一步要匹配的最佳内部/异常值

3- Use RANSAC to find the best set of inliers/outliers of that matches for next step

4-使用具有该设置的DLT(直接列纳变换)，这将使用4个匹配项来查找图像之间的单应性.

4- Use DLT (Direct Lienar Transform) with that set, this will use 4 matches to find homography between images.

5-一旦有了单应性，就可以提取姿势和旋转.

5- Once you have homography, you can extract the pose, and the rotation.

除了单应性姿势外，所有步骤都具有openCV功能.

You have openCV functions for all the steps except for pose from homography.

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