Geometrical fundamentals of polycentric panoramas

This paper proposes polycentric panoramas as a general model of panoramic images. The model formalizes essential characteristics of panoramic geometry. It is able to describe a wide range of panoramic images, including those potentially of future interest, or previously introduced such as single-center, multi-perspective, or concentric panoramas. This paper presents geometrical fundamentals towards stereo applications based on sets of polycentric panoramas. We discuss the image acquisition model, epipolar geometry and a 3D reconstruction approach for this general model of polycentric panoramas. Our theorems on epipolar curve and 3D reconstruction hold for any pair of polycentric panoramas. Corollaries demonstrate that the proposed mathematical model clarifies the understanding and characterization of more specific models. Epipolar curves of special cases are illustrated on panoramic images acquired by a high resolution line-camera.