Method and system for obtaining pair-wise epipolar constraints and solving for panorama pose on a mobile device

#Access to computing devices, such as mobile devices and digital cameras, has led to a proliferation of digital images, including panoramic images. Panoramic images may be connected (e.g., linked) to each other based on their location and orientation data. The locations at which the panoramic images were captured are typically derived from the global position systems (“GPS”) on the computing devices which captured the images. However, these systems are often inaccurate, and can provide location data which is off by a significant distance, e.g., a few meters or more. Panoramic images may thus be improperly connected together based on the inaccurate data.

#When transitioning between connected neighboring panoramic images, the orientations of the two images may be different; this may result in the user being presented with a jarring and confusing experience as they transition between panoramic images. While automatic computer vision based techniques can be used to orient panoramic images relative to each other based on visually similar image data, this can consume significant amounts of processing resources and the results are very often of low quality.

#Various embodiments within the disclosure relate generally to connecting panoramic images with accurate orientation information such that there is a consistent, natural transition when a user switches from viewing one panoramic image to viewing another panoramic image captured from a nearby location.

#The present technology is illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings in which like reference numerals refer to similar elements including:

#FIG. 1 is a functional diagram of an example system in accordance with aspects of the disclosure.

#FIG. 2 is a pictorial diagram of the example system of FIG. 1.

#Overview

#The technology relates to connecting panoramic images with accurate orientation information such that there is a consistent, natural transition when a user switches from viewing one panoramic image to viewing another panoramic image captured from a nearby location. At least some aspects of the technology include a user interface that enables panoramic images to be connected with accurate orientation information by soliciting certain information from users in a way that makes it easy for the users to provide the solicited information. Other aspects of the technology relate to automatic optimization to provide for correction of inaccuracies (resulting from human error or inaccuracy of technical measurement) in locations of the panoramic images, their relative orientations, and the heading between two panoramic images. Although the technology is described in terms of panoramic images, other images, such as images with less than a 180-degree field of view may also be used.

#For instance, a user may cause a computing device to load a first panoramic image captured at a first location. The user may then select an area within the first panoramic image where they would like to create a connection to a second panoramic image captured at a second location. The computing device may load the second panoramic image and the user may align the second panoramic image relative to the orientation of the first panoramic image, such that both images are oriented in the same direction.