Bundle adjustment with vehicle-based panoramic imagery

A new GPS/IMU supported bundle adjustment method for vehicle-based panoramic image series is presented. Firstly, multi-features are extracted and matched in the separate fisheye images, and the correspondents are then projected to panoramic coordinate with GPS/IMU for gross error elimination. Secondly, the modified perspective transformation model is constructed under the panoramic coordinate, and by the model and GPS/IMU data bundle adjustment is carried out, in which the original weights is set by object's distance to camera center. After eliminate errors by varying weight method the adjustment results are gotten. The tests results proved that the multi-feature matching method and adjustment method under panoramic coordinate can goodly deal with the tie-points extraction and bundle adjustment for non-plane camera imagery.