IEEE Consumer Electronics Magazine - January/February 2022 - 20

Smart Omnidirectional Video Capturing
Figure 8. Distortion correction by equirectangular
projection.
arranged as shown in Figure 5. The section
" Experiments " describes details of the installation
conditions.
We convert distorted circular images capFigure
6. Flowchart for the proposed method.
panoramic image is created, we repeatedly perform
the same translations in the subsequent
frames to maintain usability even without the
circles. However, if the camera placement is
changed, the translation process has to be reconducted
again.
GENERATION OF PANORAMIC
IMAGES
Distortion Correction for Acquired Images
Figure 7 shows a pair of images acquired from
the two hemispherical cameras, which were
tured by the fisheye lens to equirectangular projections,27,28
the same representation as on a
planar world map in which latitudes and longitudes
are orthogonal. Considering each hemispherical
image as one half of a globe, we flatten
it into a plane with orthogonal latitudinal and
longitudinal lines. Figure 8 shows the results of
applying distortion correction to the images
shown in Figure 7.
Circle Detection
We use circles as key points for performing
stitching to create panoramic images because circular
distortions occur in hemispherical images,
but circles retain their original shape, allowing
for more accurate detection. We perform circle
detection in only the range where the images
might overlap. Figure 9 shows the result of circle
detection applied to the image in Figure 8.
We use the Hough transform for circle detection.
The Hough transform represents all circles
passing through a point (x,y) in Cartesian coordinates
as circles with center point (centerX,centerY)
and radius and varies centerX and centerY
to find radius by the relation in (1). Converting
into the three-dimensional (3-D) space of the
center point (centerX,centerY) and radius, the
combinations with the greatest number of elements
are reverted to the original Cartesian
coordinates and given as the most circular sets
of points.29-33
Figure 7. Images acquired by two hemispherical
cameras.
20
radius2 ¼ x centerXðÞ2 þ y centerYðÞ2
(1)
IEEE Consumer Electronics Magazine

IEEE Consumer Electronics Magazine - January/February 2022

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