WO1999062252A1 - Method and apparatus for creating seamless digital panoramic images - Google Patents
Method and apparatus for creating seamless digital panoramic images Download PDFInfo
- Publication number
- WO1999062252A1 WO1999062252A1 PCT/US1999/010500 US9910500W WO9962252A1 WO 1999062252 A1 WO1999062252 A1 WO 1999062252A1 US 9910500 W US9910500 W US 9910500W WO 9962252 A1 WO9962252 A1 WO 9962252A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- video
- digital
- video camera
- file
- panoramic image
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/20—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using video object coding
- H04N19/23—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using video object coding with coding of regions that are present throughout a whole video segment, e.g. sprites, background or mosaic
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
Definitions
- the present invention relates to digital imaging and in particular to a method and apparatus for creating seamless digital panoramic images from video footage of a panoramic scene of interest.
- Creating digital panoramic images with a field of view between 180 to 360 degrees is known and many approaches have been considered. When making digital panoramic images of this nature, it is desired to eliminate seams in the digital panoramic images so that the three-dimensional illusion is realistic and continuous.
- One prior an technique for creating digital panoramic images makes use of a conventional photographic camera to take a sequence of photographs of a panoramic scene to be digitally imaged. Once the sequence of photographs has been taken, the film is developed and the developed photographs are digitized and stored in computer memory. Graphics software stored in the computer is used to align manually the digitized photographs (a process referred to as stitching) to form the digital panoramic image.
- Another prior an technique for creating digital panoramic images involves the use of a digital camera to take a sequence of digital photographs. The digital camera is then plugged directly into the computer to allow the digital photographs to be downloaded into computer memory. Again, graphics software is used to stitch manually the digitized photographs together to form the digital panoramic image.
- Yet another prior art technique for creating digital panoramic images makes use of a strip camera which rests on a motorized tripod to take a single, continuous panoramic photograph of the desired scene. Once the panoramic photograph has been taken, the film is developed and the developed photograph is digitized and stored in computer memory.
- a method of creating a seamless digital panoramic image from video footage comprising the steps of: rotating a video camera at a generally constant speed while said video camera is recording to capture video footage of a panoramic scene of interest; after said video footage has been captured, storing said video footage as a digital video file in a computer for processing; and processing said digital video file to create a seamless digital panoramic image of said panoramic scene of interest.
- the video camera is rotated 360° and at a speed equal to about 1.5 rpms.
- slices are cut from digital frames in the digital video file corresponding to frames of the video footage. The slices are reassembled to create the digital panoramic image.
- an apparatus for creating a seamless digital panoramic image from video footage comprising: a video camera to capture video footage of a panoramic scene of interest; a roundabout on which said video camera is mounted, said roundabout being actuable to rotate said video camera about an axis generally at a constant speed to sweep said video camera about said panoramic scene of interest; and a processor to receive video footage captured by said video camera, said processor storing said video footage as a digiul video file and processing said digital video file to create said seamless digital panoramic image.
- the roundabout includes a housing, a turntable on the housing supporting the video camera, a motor within the housing to rotate the turntable and a power supply to power the motor.
- the power supply includes at least one battery holder in the housing holding batteries.
- a speed control circuit is also provided in the housing and acts between the batteries and the motor. The speed control circuit supplies a fixed voltage to the motor so that the motor rotates at a speed such that the video camera routes at a speed equal to about 1.5 rpms.
- the roundabout includes a battery power monitor including a comparison circuit to compare the voltage of the batteries with a predetermined threshold.
- a first indicator is illuminated and when the voltage of the batteries is below the predetermined threshold, a second indicator is illuminated.
- the processor cuts slices from digital frames in the digiul video file corresponding to frames of the video foouge and re-assembles the slices to create the digital panoramic image.
- the present invention provides advantages in that the stitching process is automated making it fast and simple to create seamless digital panoramic images from video foouge of a panoramic scene of interest. Also, the use of a video camera and roundabout to capture the video foouge of the panoramic scene of interest avoids the problems associated with developing and digitizing photographs and makes the process of creating digital panoramic images less expensive, fast, efficient and accessible to the home-market.
- Figure 1 illustrates an apparatus for creating a seamless digital panoramic image from video footage of a panoramic scene of interest in accordance with the present invention
- Figure 2 is a perspective view, partially cut-away, of a roundabout forming pan of the apparatus of Figure 1;
- Figure 3 a is a top plan view of a base forming pan of the roundabout of
- Figure 3b is a front elevational view of the base of Figure 3a taken in the direction of arrow 3b;
- Figure 3 c is a side elevational view of the base of Figure 3 a taken in the direction of arrow 3c;
- Figure 4a is a top plan view of a cover forming part of the roundabout of Figure 2;
- Figure 4b is a front elevational view of the cover of Figure 4a taken in the direction of arrow 4b;
- Figure 4c is a side elevational view of the cover of Figure 4a taken in the direction of arrow 4c;
- Figure 5 is a front elevational view of a door forming part of the roundabout of Figure 2;
- Figure 6a is a top plan view of a turntable top plate forming part of the roundabout of Figure 2;
- Figure 6b is a front eleva ⁇ onal view of the tumuble top plate of Figure 6a
- Figure 7 is a circuit diagram of a speed control circuit forming pan of the roundabout of Figure 2;
- Figure 8 is a flowcha ⁇ illustrating the steps performed when creating a seamless digital panoramic image from video foouge of a panoramic scene of interest using the apparatus of Figure 1;
- Figure 9 is a flowchart illustrating the steps performed during execution of panorama creation software
- Figure 10 is a flowcha ⁇ illustrating the steps performed during execution of an alternative embodiment of panorama creation software.
- Apparatus 10 includes a video camera 12 mounted on a roundabout 13 for routing the video camera 12. Roundabout 13 is mounted on a conventional tripod 14 having leveling adjustments.
- the video camera 12 is preferably a Hi8 or digital video camera and is connecuble to a personal computer 16.
- Computer 16 includes a video capture card to allow a digiul video file of video footage of a panoramic scene of interest recorded by the video camera 12 to be created and stored in memory within the computer.
- Panorama creation software loaded onto the computer 16 is executable to allow digital video files stored in memory to be processed to create seamless digital panoramic images.
- the roundabout 13 includes a generally rectangular box-shaped housing 30 constituted by a base 32, a cover 34 and a door 36.
- the base 32 is generally U- shaped in side elevation and includes a bottom plate 40 and a pair of opposed upright front and rear walls 42 and 44 respectively.
- a central aperture 46 is provided in the bottom plate 40 to accommodate a screw (not shown) extending upwardly from the tripod 14.
- a rectangular opening 48 is provided in the front wall 42 to permit access to the interior of the roundabout 13.
- the cover 34 includes a top plate 50 and a pair of opposed depending side walls 52 and 54 respectively.
- Flanges 56 extend from the peripheral side edges of the side walls 52 and 54 and from the front and rear peripheral edges of the top plate 50 to overlie the front and rear walls 42 and 44 of the base 32.
- Fasteners (not shown) pass through aligned holes 58 in the flanges 56 and front and rear walls 52 and 54 to secure the base 32 and cover 34 together.
- the door 36 is provided on the front wall 42 and is pivotable between open and closed positions to cover the opening 48.
- a turntable top plate 60 is rouubly mounted on the top plaie 50 and can rotate through 360° (i.e. a complete revolution).
- a slot 62 is provided in the turntable top plate 60 to accommodate a fastener (not shown) which releasably secures the video camera 12 to the turntable top plate 60.
- Battery holders 64 are secured to the inside surfaces of the side walls
- Each battery holder 64 accommodates a plurality of ba ⁇ eries 66 (see Figure 7) and opens in a direction towards the opening 48 to facilitate replacement of the batteries when the door 36 is opened.
- a gear casing 68 containing a gear train (not shown) is secured to the undersurface of the top plate 50.
- a motor 70 is fastened to the gear casing 68 and has a drive shaft (not shown) coupled to the gear train.
- the gear train has an output shaft (not shown) coupled to the turntable top plate 60.
- a circuit board 72 on which a speed control circuit 74 is mounted (see Figure 7).
- a wire 76 is connected to the positive terminals of the ba ⁇ eries 66 and to an input terminal 78 of the speed control circuit 74.
- a wire 80 is connected to the negative terminals of the ba ⁇ eries 66 and to an output terminal 82 of the speed control circuit 74.
- Wires 84 and 86 also extend from terminals 88 and 90 respectively of the speed control circuit 74 and lead to terminals of the motor 70.
- a hole (not shown) is provided in the side wall 52 through which the arm 94 of a toggle switch 96 extends. Referring now to Figure 7, the speed control circuit 74 is be ⁇ er illustrated.
- the toggle switch 96 has one terminal connected to input terminal 78 to which wire 76 leading to the positive terminals of the ba ⁇ eries 66 is connected.
- the other terminal of the toggle switch 96 is connected to the Vin pin of a 5 voluge regulator VR and to a voluge divider 98 constimted by resistors Rl , R2 and R3.
- the voltage divider 98 is also connected to output terminal 82.
- the output of voltage divider 98 is supplied to the non-inve ⁇ ing terminal of one comparator Cl and to the inverting terminal of a second comparator C2.
- the inverting terminal of comparator C I and the non-inverting l o terminal of comparator C2 are coupled and are connected to one terminal of a resistor R4 and to the cathode of a zener diode Zl.
- the anode of ze ⁇ er diode 21 is connected to the output terminal 82.
- the other terminal of resistor R4 is connected to the toggle switch 96.
- the output terminal of comparator Cl is connected to the anode of a green light emi ⁇ ing diode LED1.
- the cathode of the green light emitting diode LED1 is
- the output terminal of the comparator C2 is connected to the anode of a red light emitting diode LED2.
- the cathode of the red light emi ⁇ ing diode LED2 is connected to the output terminal of comparator Cl as well as to the toggle switch 96 through a current limiting resistor R6.
- the Vout pin of voltage regulator VR is connected to terminal 88.
- a J pin of the voltage regulator VR is coupled to the Vout pin by way of a resistor R7 and is connected to the output terminal 82 via a resistor R8.
- the terminal 90 is connected to the output terminal 82.
- the video foouge must first be captured. Once the video footage is captured, it is downloaded into the computer 16 via the video capture card. The panoramic creation software is then executed to convert the video footage into the digital panoramic image.
- the video camera During the step of capturing the video footage, the video camera
- the ba ⁇ eries 66 supply power to the speed control circuit 74.
- the resistor R4 and ze ⁇ er diode Zl function to supply a fixed reference voltage to the non-inverting input terminal of comparator 02 and to the inverting terminal of comparator Cl.
- the voltage divider 98 supplies a voltage to the inverting terminal of comparator C2 and to the non-inverting terminal of comparator Cl.
- the ba ⁇ ery voltage is above a threshold level, the voltage supplied to the comparators Cl and C2 by the voltage divider 98 is greater than the fixed reference voluge.
- the output of comparator Cl is high resulting in current flow through the green light emi ⁇ ing diode LED I causing it to illuminate.
- the light emi ⁇ ing diode LEDl is visible through a hole (not shown) in the side wall 52.
- the voltage supplied to comparators Cl and C2 by the voltage divider is less than the fixed reference voluge. in this situation, the output of comparator C2 is high resulting in current flow through the red light emitting diode LED2 causing it to illuminate signifying a low ba ⁇ ery level condition.
- the light emi ⁇ ing diode LED2 is also visible through the hole.
- the voluge regulator VR supplies a constant voltage, regulated by the resistors R7 and R8, to the motor 70 causing the motor shaft to rotate at a constant speed.
- the turntable top plate 60 As the motor shaft routes, roution is imparted to the turntable top plate 60 by way of the gear train so that the turntable top plate completes a 360° revolution in 40 seconds (i.e. the rumuble rotates at a speed equal to about 1.5 rpms).
- the video camera 12 captures video foouge of the panoramic scene of interest. Once a complete revolution has occurred, the video camera 12 is stopped and then the toggle switch 96 is opened to stop the roundabout 13. The video footage capture process takes approximately 60 seconds to complete.
- the video camera 12 is connected to the video cap ⁇ ire card in the computer 16.
- the tape onto which the panoramic scene has been recorded is rewound and is then played.
- the recording mechanism in the hardware of the video capture card is activated.
- the video capture card in nun digitizes the video footage and stores the digitized video footage in a digital video file
- the panorama creation software is executed to create the seamless digiul panoramic image (block 104).
- S represents the pixel-width of slices to be taken from the digitized frames stored in the digital video file, where S is in the range of 0.0>S ⁇ 5 max_frame_width.
- the digital video file is then loaded into the panorama creation software and the file pointer is set to the first frame of the digital video file (see block 1 10 in Figure 9).
- the panorama creation software then creates an output file or bitmap which is large enough to hold (S x N) ve ⁇ ical scan lines of each frame of digital video where N is equal to the number of frames to be used to create the 0 seamless digital panoramic image (block 112).
- the starling destination address in the bitmap is set (block 114) and then the center of the first frame of the digiul video is located (block 116).
- the center is determined by calculating SX/2 where SX is equal to the horizontal size of the first frame of the digital video and then moving from the left or 5 right edge of the bitmap depending on the direction the video camera was rotated, by the calculated amount.
- SX is equal to the horizontal size of the first frame of the digital video and then moving from the left or 5 right edge of the bitmap depending on the direction the video camera was rotated, by the calculated amount.
- a slice from the center of the first frame having a pixel-width determined by the value assigned to S is taken (block 118). Once the slice has been cut from the center of the first frame, pixel strips from the slice are pasted into the bitmap to begin generating the final digital panoramic image (block 119).
- Pixel strips taken from the slice can be no more than one pixel wide i.e. X ⁇ i where X is equal to the width of the pixel strip.
- the end pixel snip in the bitmap is added on each relevant column of pixels from the slice. For example, if the slice cut from the frame is 12 pixel strips wide and if 4.5 pixel strips of the slice are to be pasted into the bitmap, the center of the slice is first determined (12/2 ⁇ 6). The starting pixel strip to one side of the slice center to be pasted into the bitmap is then determined (6 - 4.5/2 - 3.75).
- the starting pixel strip from the slice is determined, 4.5 pixel strips from the slice are pasted into the bitmap starting from the 3.75" 1 pixel strip of the slice.
- the following pixel strips are pasted into the bitmap: a 0.25 pixel wide strip from the third pixel strip; a 1.0 pixel wide snip from the fourth pixel strip; a 1.0 pixel wide strip from the fifth pixel strip; a 1.0 pixel wide strip from the sixth pixel strip; a 1.0 pixel wide strip from the seventh pixel strip; and a 0.25 pixel wide strip from the eighth pixel strip.
- the strip When pasting a pixel strip into the bitmap, the strip is examined to determine if the pixel strip crosses a pixel boundary. If the pixel strip crosses a pixel boundary, it is broken into two pixel strips, one pixel strip of N pixels and one pixel strip of X-N pixels. If the pixel strip does not cross a pixel boundary it is not broken. In either case, the Red/Green/Blue pixel values of the pixels in the source strip are multiplied by the width X and the pixel strip is pasted into the bitmap.
- the pixels in the source strip are multiplied by 0.25 and the pixels are added to corresponding pixels in the final image.
- the new width of the final digital panoramic image would then become equal to 0.55.
- the pixel strip is broken because it crosses a pixel boundary.
- a 0.2 pixel wide strip is added to the corresponding pixels of the 11* pixel strip location in the final digiul panoramic image and a 0.2 pixel wide strip is pasted into the bitmap at the ⁇ 2 m pixel strip location.
- the file pointer is set to the next frame of the digital video file. The above steps are then re-performed.
- the panorama creation software keeps a running toul so that the average pixel-width of the slices cut from the frames is equal to the entered value S. If the entered value S is equal to an even number, the pixel-width of
- the slice cut from the center of each frame is equal.
- S is assigned a value equal to 2.5
- a two pixel-wide slice is cut from the center of the first frame.
- a three pixel-wide slice is then cut from the center of the second frame so that the average pixel-width of the slices cut from the frames is equal to the value S.
- the digital video file is checked to determine if the end of the file (EOF) has been reached (block 120) or if enough digiul information has been copied into the bitmap to complete the seamless digital panoramic image (block 122). If neither of the above conditions has been met, the file pointer is mdexed to the next frame (block 124), the center of that
- bitmap is saved as a bitmap (*.bmp) file which represents the seamless digital panoramic image (block 126).
- bitmap file is saved, it is imported into Adobe Photoshop®
- the digital panoramic image is colour-corrected and re-sized.
- the digital panoramic image is then saved as a JPEG file and compressed to a file size in the range of from about 50 to 60 Kb.
- the panorama creation software allows a user to change the pixel-width of the slices to be cut from each frame as a function of time, using a spline curve presented on the monitor of the computer 16.
- the spline curve allows points to be added to and manipulated on the spline curve.
- the slice cut from the corresponding video frame at that point is assigned a pixel-width equal to a maximum value entered by a user when the digital video file is loaded into the panoramic creation software.
- the end result is that the slices cut from the video frames may vary significantly and randomly.
- the operation of yet another embodiment of the panorama creation software is illustrated.
- the digital video file is loaded into the panorama creation software and the file pointer is set to the first frame of the digital video in the digital video file (block 210).
- the panorama creation software then creates an output file or bitmap which is large enough to hold (S x N) vertical scan lines (block 212).
- the starring destination address of the bitmap is set either to the left edge or right edge of the bitmap depending on the direction the video camera was routed by the roundabout 1 (block 214).
- a reference filter PMatrix in the form of a 16 x 16 matrix of pixels is then grabbed from the center of the first frame of digital video (block 216).
- a slice of the first frame having a width equal to S is then cut from the first frame and pixel strips from the slice are pasted into the bitmap beginning at the starting destination address (block 218).
- the file pointer is then indexed to the next frame of digital video
- the next frame of digiul video is scanned using the reference filter PMatrix (block 222).
- another matrix CMatrix is taken from the current frame and the filter PMatrix and matrix CMatrix are compared using a weighted averaging algorithm.
- the matrices are compared on a pixel-by-pixel basis and a match percentage for each compa ⁇ son is generated.
- the generated percentages are added to form a running toul for the entire matrix compare operation.
- the running total is divided by the number of pixels in the filter PMatrix to yield a match pcrcenuge for the matrix comparison.
- the position of the slice to be cut from the cu ⁇ ent frame is calculated by determining the offset of the matrix CMatrix from the center of the current frame, taking into account the direction that the video camera was rotated during capture of the panoramic scene (block 224). If the match percentage for the matrix comparison is outside of the tolerance, another matrix CMatrix is taken from the current frame, and the above steps are re-performed. Once the position of the slice to be cut from the cu ⁇ e ⁇ t frame of digital video is determined, the slice is taken (block 226) and pixel strips from the slice are copied into the bitmap in the manner described previously to begin generating the final digiul panoramic image (block 227).
- the digiul video file is checked to determine if the end of the file (EOF) has been reached (block 228) or if enough digital information has been copied into the bitmap to complete the seamless digital panoramic image (block 230). If neither of the above conditions has been met, the panorama creation software re-performs the above-described steps. However if either of the conditions is met, the bitmap is saved as a file which represents the seamless digiul panoramic image (block 232).
- the panorama creation software allows for some tilt e ⁇ or during the recordal of the panoramic scene of interest, care should be taken using the level adjustments of the t ⁇ pod 14 to avoid tilting of the video camera 12.
- the present invention provides advanuges in that the stitching process is automated making it fast and simple to create a seamless digiul panoramic image from video footage of a panoramic scene of interest. Also, the use of a video camera and roundabout to record the panoramic scene of interest avoids the problems associated with developing and digitizing photographs.
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU40764/99A AU4076499A (en) | 1998-05-28 | 1999-05-12 | Method and apparatus for creating seamless digital panoramic images |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US8620498A | 1998-05-28 | 1998-05-28 | |
US09/086,204 | 1998-05-28 |
Publications (2)
Publication Number | Publication Date |
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WO1999062252A1 true WO1999062252A1 (en) | 1999-12-02 |
WO1999062252A9 WO1999062252A9 (en) | 2000-04-27 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/US1999/010500 WO1999062252A1 (en) | 1998-05-28 | 1999-05-12 | Method and apparatus for creating seamless digital panoramic images |
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AU (1) | AU4076499A (en) |
WO (1) | WO1999062252A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009082543A1 (en) * | 2007-12-21 | 2009-07-02 | Ge Security Inc. | Methods and apparatus for operating a video camera assembly |
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US5185667A (en) * | 1991-05-13 | 1993-02-09 | Telerobotics International, Inc. | Omniview motionless camera orientation system |
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1999
- 1999-05-12 WO PCT/US1999/010500 patent/WO1999062252A1/en active Application Filing
- 1999-05-12 AU AU40764/99A patent/AU4076499A/en not_active Abandoned
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US4977323A (en) * | 1973-08-16 | 1990-12-11 | The United States Of America As Represented By The Secretary Of The Navy | 360 degree infrared surveillance with panoramic display |
US4496939A (en) * | 1982-06-04 | 1985-01-29 | Eastman Kodak Company | Power indicator apparatus for a DC to DC flyback converter |
US4728839A (en) * | 1987-02-24 | 1988-03-01 | Remote Technology Corporation | Motorized pan/tilt head for remote control |
US4901146A (en) * | 1988-05-05 | 1990-02-13 | Applied Engineering Products Co. | Imaging assembly and mounting for surveillance viewing under remote control |
US5067019A (en) * | 1989-03-31 | 1991-11-19 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Programmable remapper for image processing |
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US5313306A (en) * | 1991-05-13 | 1994-05-17 | Telerobotics International, Inc. | Omniview motionless camera endoscopy system |
US5359363A (en) * | 1991-05-13 | 1994-10-25 | Telerobotics International, Inc. | Omniview motionless camera surveillance system |
US5497188A (en) * | 1993-07-06 | 1996-03-05 | Kaye; Perry | Method for virtualizing an environment |
US5579520A (en) * | 1994-05-13 | 1996-11-26 | Borland International, Inc. | System and methods for optimizing compiled code according to code object participation in program activities |
US5657073A (en) * | 1995-06-01 | 1997-08-12 | Panoramic Viewing Systems, Inc. | Seamless multi-camera panoramic imaging with distortion correction and selectable field of view |
US5721585A (en) * | 1996-08-08 | 1998-02-24 | Keast; Jeffrey D. | Digital video panoramic image capture and display system |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2009082543A1 (en) * | 2007-12-21 | 2009-07-02 | Ge Security Inc. | Methods and apparatus for operating a video camera assembly |
Also Published As
Publication number | Publication date |
---|---|
WO1999062252A9 (en) | 2000-04-27 |
AU4076499A (en) | 1999-12-13 |
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