# US 10,373,360 B2 · Systems and methods for content-adaptive image stitching > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,373,360 B2 - Document ID: US10373360B2 - Status: Granted - Kind: B2 - Application number: 15/447,827 - Filed: 2017-03-02 - Published: 2018-09-06 - Granted: 2019-08-06 - Earliest claimed: 2017-03-02 - Assignees: QUALCOMM Incorporated - Applicants: QUALCOMM Incorporated - Inventors: Pushkar Gorur Sheshagiri; Chiranjib Choudhuri; Sudipto Banerjee; Ajit Deepak Gupte; Pawan Kumar Baheti; Ajit Venkat Rao - Web page: https://patentgrep.com/patent/US10373360B2 ## CPC - G06T 3/4038: Image mosaicing, e.g. composing plane images from plane sub-images - G06F 16/444: {Spatial browsing, e.g. 2D maps, 3D or virtual spaces} - G06T 3/12: Panospheric to cylindrical image transformations - G06T 3/153: using elastic snapping - G06T 11/60: Creating or editing images; Combining images with text - G06T 19/006: {Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00)} - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A method for stitching images by an electronic device is described. The method includes obtaining at least two images. The method also includes selecting a stitching scheme from a set of stitching schemes based on one or more content measures of the at least two images. The set of stitching schemes includes a first stitching scheme, a second stitching scheme, and a third stitching scheme. The method further includes stitching the at least two images based on a selected stitching scheme. ## Claims ### Claim 1 A method for stitching images by an electronic device, comprising: obtaining at least two images; selecting a stitching scheme from a set of stitching schemes based on one or more content measures including an object coverage measure that indicates a span of an object in at least a portion of at least one of the at least two images, wherein the set of stitching schemes includes a first stitching scheme, a second stitching scheme, and a third stitching scheme; and stitching the at least two images based on a selected stitching scheme. ### Claim 2 (depends on 1) The method of claim 1, wherein stitching the at least two images produces a surround view image of a scene. ### Claim 3 (depends on 1) The method of claim 1, wherein the at least two images are fisheye images, and wherein the method further comprises transforming overlapping outer regions of the at least two images into rectangular images using a geometrical transformation. ### Claim 4 (depends on 1) The method of claim 1, further comprising determining sub-regions of an overlapping region of the at least two images based on the one or more content measures. ### Claim 5 (depends on 4) The method of claim 4, further comprising performing selecting the stitching scheme for each of the sub-regions. ### Claim 6 (depends on 5) The method of claim 5, wherein different stitching schemes are selected for at least two of the sub-regions. ### Claim 7 (depends on 1) The method of claim 1, wherein the one or more content measures further comprise a motion measure. ### Claim 8 (depends on 1) The method of claim 1, wherein the first stitching scheme is static seam-based stitching, the second stitching scheme is dynamic seam-based stitching, and the third stitching scheme is dynamic warp stitching. ### Claim 9 (depends on 8) The method of claim 8, wherein selecting the stitching scheme comprises: selecting static seam-based stitching in a case that a motion measure is greater than a motion threshold; determining whether a match is unreliable in a case that the motion measure is not greater than the motion threshold; and selecting static seam-based stitching in a case that the match is unreliable. ### Claim 10 (depends on 8) The method of claim 8, wherein selecting the stitching scheme comprises selecting dynamic warp stitching in a case that a disparity measure is greater than a disparity threshold or the object coverage measure meets a coverage criterion. ### Claim 11 (depends on 8) The method of claim 8, wherein selecting the stitching scheme comprises selecting dynamic seam-based stitching in a case that a disparity measure is not greater than a disparity threshold and the object coverage measure does not meet a coverage criterion. ### Claim 12 (depends on 1) The method of claim 1, further comprising: selecting a blending region based on at least one of a motion measure or a disparity measure; and blending the at least two images in the blending region. ### Claim 13 (depends on 1) The method of claim 1, wherein stitching the at least two images comprises performing color correction based on a disparity measure. ### Claim 14 (depends on 1) The method of claim 1, further comprising constraining a dynamic seam to align at a sub-region boundary in a case that the selected stitching scheme is dynamic seam-based stitching. ### Claim 15 An electronic device for stitching images, comprising: a memory; a processor coupled to the memory, wherein the processor is configured to: obtain at least two images; select a stitching scheme from a set of stitching schemes based on one or more content measures including an object coverage measure that indicates a span of an object in at least a portion of at least one of the at least two images, wherein the set of stitching schemes includes a first stitching scheme, a second stitching scheme, and a third stitching scheme; and stitch the at least two images based on a selected stitching scheme. ### Claim 16 (depends on 15) The electronic device of claim 15, wherein stitching the at least two images produces a surround view image of a scene. ### Claim 17 (depends on 16) The electronic device of claim 16, wherein the at least two images are fisheye images, and wherein the processor is configured to transform overlapping outer regions of the at least two images into rectangular images using a geometrical transformation. ### Claim 18 (depends on 15) The electronic device of claim 15, wherein the processor is configured to determine sub-regions of an overlapping region of the at least two images based on the one or more content measures. ### Claim 19 (depends on 18) The electronic device of claim 18, wherein the processor is configured to perform selecting the stitching scheme for each of the sub-regions. ### Claim 20 (depends on 19) The electronic device of claim 19, wherein different stitching schemes are selected for at least two of the sub-regions. ### Claim 21 (depends on 15) The electronic device of claim 15, wherein the one or more content measures further comprise a motion measure. ### Claim 22 (depends on 15) The electronic device of claim 15, wherein the first stitching scheme is static seam-based stitching, the second stitching scheme is dynamic seam-based stitching, and the third stitching scheme is dynamic warp stitching. ### Claim 23 (depends on 22) The electronic device of claim 22, wherein the processor is configured to select the stitching scheme by: selecting static seam-based stitching in a case that a motion measure is greater than a motion threshold; determining whether a match is unreliable in a case that the motion measure is not greater than the motion threshold; and selecting static seam-based stitching in a case that the match is unreliable. ### Claim 24 (depends on 22) The electronic device of claim 22, wherein the processor is configured to select the stitching scheme by selecting dynamic warp stitching in a case that a disparity measure is greater than a disparity threshold or the object coverage measure meets a coverage criterion. ### Claim 25 (depends on 22) The electronic device of claim 22, wherein the processor is configured to select the stitching scheme by selecting dynamic seam-based stitching in a case that a disparity measure is not greater than a disparity threshold and the object coverage measure does not meet a coverage criterion. ### Claim 26 (depends on 15) The electronic device of claim 15, wherein the processor is configured to: select a blending region based on at least one of a motion measure or a disparity measure; and blend the at least two images in the blending region. ### Claim 27 (depends on 15) The electronic device of claim 15, wherein the processor is configured to stitch the at least two images by performing color correction based on a disparity measure. ### Claim 28 (depends on 15) The electronic device of claim 15, wherein the processor is configured to constrain a dynamic seam to align at a sub-region boundary in a case that the selected stitching scheme is dynamic seam-based stitching. ### Claim 29 A non-transitory tangible computer-readable medium storing computer executable code, comprising: code for causing an electronic device to obtain at least two images; code for causing the electronic device to select a stitching scheme from a set of stitching schemes based on one or more content measures including an object coverage measure that indicates a span of an object in at least a portion of at least one of the at least two images, wherein the set of stitching schemes includes a first stitching scheme, a second stitching scheme, and a third stitching scheme; and code for causing the electronic device to stitch the at least two images based on a selected stitching scheme. ### Claim 30 (depends on 29) The computer-readable medium of claim 29, further comprising code for causing the electronic device to determine sub-regions of overlapping regions of the at least two images based on the one or more content measures.