To improve the algorithmic efficiency of image stitching, we exploit a region-based point correspondence selection method to reduce the number of point correspondences that are used for thin-plate spline interpolation. The image stitching is formulated as a nonrigid motion estimation problem and images are stitched based on nonrigid warping, e.g., the thin-plate spline. To provide a clear view of targets for face-to-face communication and a complete view of a robot’s surroundings for safe teleoperation of the robot, we stitch these images by keeping the original conventional image. In this paper, we propose to stitch images from these cameras for offering remote operators a large field of view to perceive a local environment. Finally, we cast a perspective on future potential and research directions for panoramic imaging instruments.Ĭonventional cameras and fisheye cameras are often used together to capture clear target images and large scene background images in many applications, such as mobile robotic telepresence systems and large scene monitoring systems. We further offer a detailed analysis of applications of panoramic imaging in scene understanding for autonomous driving and robotics, spanning panoramic semantic image segmentation, panoramic depth estimation, panoramic visual localization, and so on.

We then provide a detailed analysis on how these techniques can help enhance the performance of panoramic imaging systems. Afterwards, we discuss in detail the broad application prospects and great design potential of freeform surfaces, thin-plate optics, and metasurfaces in panoramic imaging. In this review, we begin with introducing the basic principles of panoramic imaging systems, and then describe the architectures, features, and functions of various panoramic imaging systems. Fortunately, recent advances in freeform surfaces, thin-plate optics, and metasurfaces provide innovative approaches to address human perception of the environment, offering promising ideas beyond conventional optical imaging. However, while satisfying the need for large-FoV photographic imaging, panoramic imaging instruments are expected to have high resolution, no blind area, miniaturization, and multi-dimensional intelligent perception, and can be combined with artificial intelligence methods towards the next generation of intelligent instruments, enabling deeper understanding and more holistic perception of 360-degree real-world surrounding environments. Panoramic imaging emerges as the next generation of innovative intelligent instruments for environmental perception and measurement.

With the rapid development of high-speed communication and artificial intelligence technologies, human perception of real-world scenes is no longer limited to the use of small Field of View (FoV) and low-dimensional scene detection devices. Los resultados muestran que, en aquellos casos en los que la zona de solape es rica en información visual, una de las imágenes que generamos es mejor que la proporcionada por la cámara. La comparación entre descriptores permitirá determinar la calidad relativa de la vista obtenida. Con objeto de determinar automáticamente la calidad de la vista 360 obtenida, y así poder compararla con la generada por la propia cámara, se propone un algoritmo basado en una red neuronal convolucional que extrae descriptores de apariencia global de las escenas. Para ello, se han implementado dos procedimientos que permiten realizar la proyección sobre la esfera unidad. Inicialmente, el algoritmo realiza una proyección de cada imagen fisheye a formato equirectangular, lo cual facilita el posterior stitching necesario para componer la vista 360. Haciendo uso de una cámara comercial de este tipo, el principal objetivo del trabajo consiste en el desarrollo de métodos para la obtención de una vista 360 y la evaluación de la calidad de la misma, comparándola con la vista 360 generada por la propia cámara. Los sistemas de visión conformados por dos lentes fisheye posicionadas de forma que cubran un campo de visión de 360° presentan grandes ventajas, como la posibilidad de obtener una vista 360 de alta calidad, que puede ser usada en otras tareas de alto nivel.

Dual fisheye lens