Contents

Preface

Series Preface

Website and Exercises

List of Symbols

1 Introduction

1.1 Panoramas

1.1.1 Accurate Panoramic Imaging

1.1.2 Importance of Panoramas

1.2 Panoramic Paintings

1.2.1 Chinese Scrolls

1.2.2 European Panoramic Paintings

1.3 Panoramic or Wide-Angle Photographs

1.3.1 Historic Panoramic Cameras

1.3.2 Photogrammetry

1.4 Digital Panoramas

1.4.1 Image Mosaicing

1.4.2 Panoramas by Stitching

1.4.3 Catadioptric Panoramas

1.4.4 Stereo Panoramic Imaging

1.5 Striving for Accuracy

1.5.1 A General Perspective on Panoramic Sensors

1.5.2 Rotating Sensor-Line Cameras

1.5.3 Laser Range-Finder

1.6 Exercises

1.7 Further Reading

2 Cameras and Sensors

2.1 Camera Models

2.1.1 Capturing Surface and Central Point

2.1.2 Pinhole Camera

2.1.3 Ideal Pinhole Camera

2.1.4 Sensor-Matrix Cameras

2.1.5 Sensor-Line Cameras

2.2 Optics

2.2.1 Waves and Rays of Light; Law of Refraction

2.2.2 Ideal Gaussian Optics

2.2.3 Pupil, Aperture, and f-Number

2.2.4 Relation to the Pinhole Camera

2.3 Sensor Models

2.3.1 Rotating Sensor-Line Cameras

2.3.2 Rotating Multi-Line Cameras

2.3.3 Rotating Sensor-Matrix Cameras

2.3.4 Laser Range-Finder

2.4 Examples and Challenges

2.5 Exercises

2.6 Further Reading

3 Spatial Alignments

3.1 Mathematical Fundamentals

3.1.1 Euclidean Spaces and Coordinate Systems

3.1.2 2D Manifolds and Surface Normals

3.1.3 Vectors, Matrices, and Affine Transforms

3.2 Central Projection: World into Image Plane

3.2.1 Symmetric Perspective Projections

3.2.2 Asymmetric Perspective Projections ...

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