Minimal Solutions for Panoramic Stitching with Radial Distortion

Martin Byröd, Matthew Brown, Karl Åström

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

25 Citations (SciVal)
284 Downloads (Pure)


This paper presents a solution to panoramic image stitching of two images with co-
inciding optical centers, but unknown focal length and radial distortion. The algorithm
operates with a minimal set of corresponding points (three) which means that it is well
suited for use in any RANSAC style algorithm for simultaneous estimation of geometry
and outlier rejection. Compared to a previous method for this problem, we are able to
guarantee that the right solution is found in all cases. The solution is obtained by solving
a small system of polynomial equations. The proposed algorithm has been integrated in
a complete multi image stitching system and we evaluate its performance on real images
with lens distortion. We demonstrate both quantitative and qualitative improvements
compared to state of the art methods.
Original languageEnglish
Title of host publicationBritish Machine Vision Conference
PublisherBritish Machine Vision Association (BMVA)
Number of pages11
Publication statusPublished - 2009
EventThe 20th British Machine Vision Conference - London, United Kingdom
Duration: 2009 Sep 72009 Sep 10


ConferenceThe 20th British Machine Vision Conference
Country/TerritoryUnited Kingdom

Subject classification (UKÄ)

  • Computer Vision and Robotics (Autonomous Systems)
  • Mathematics


  • minimal problems
  • pose
  • Computer vision
  • geometry
  • radial distortion


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