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C
Aligning Two
Images in a
Panoramic
Mosaic
An algorithm that attempts to align two images in a rotational panorama
must attempt to determine the parameters h
ij
given by Equation (8.4) in
the homography X
= HX. These parameters transform pixels at image
coordinate (x, y) in the existing panorama I
c
so that they overlap the incoming
image I
1
,atlocation(x
, y
) (as given by Equations (8.2) and (8.3)) with
the minimum difference — to be precise, with the minimum least squared
error (LSE) between all pixels:
=
i=all pixels
I
1
(x
i
, y
i
) − I
c
(x
i
, y
i
)
2
.
In the following argument, we follow the work of Szeliski and Shum [2].
To register the image I
1
(x
)w