System and method for producing a spatially highly precise, localized panoramic street image

A method for producing a localized panoramic street image of a street from a continuous film with location information recorded by means of a vehicle, the method comprising:

• using a film which contains image data at a predetermined angle to a course of the street, which is referred to as zero position, and which has a predetermined horizontal capture angle, wherein predetermined subportions of the capture angle are present before and after the zero position;
• by means of the location information, ascertaining a recording position for each frame of the film;
• performing an analysis step including calculating a physical distance el between recording positions of a first frame and a subsequent frame;
• producing a panoramic street image by:
• creating an image strip of the first frame from the zero position in the direction of the recording position (P2) of the subsequent frame, which corresponds with a first part of the distance;
• and
• creating an image strip of the subsequent frame from the zero position in the direction of the recording position of the first frame, which corresponds with a second part of the distance;
• wherein the first and the second part of the distance together correspond to the entire distance wherein;
• wherein at least for one frame, pixels thereof are ascertained that lie on the zero position of the frames;
• wherein in the case of the first and the last frame of the film, only the portions starting from the zero position in the direction of the course of the street are used in each case;
• wherein the panoramic street image is assembled from the image strips, wherein the panoramic street image corresponds with the length of the street;
• and
• wherein every subsequent pair of said image frames created is dependent on a distance separating a subsequent pair of adjacent ones of said recording positions, and every said subsequent pair of said image frames together correspond to the entire distance separating the two recording positions used to produce the pair of said image frames.

A method for producing a localized panoramic street image of a street from a continuous film with location information recorded by means of a vehicle, the method comprising:

• using a film which contains image data obtained at a predetermined angle which is non-parallel to a course of the street, which is referred to as zero position, and which has a capture angle of at least 20° in the horizontal, wherein at least 5° of the capture angle are present before and after the zero position;
• by means of the location information, ascertaining a recording position for each frame of the film;
• performing an analysis step including calculating a physical distance el between recording positions of a first frame and a subsequent frame;
• producing a panoramic street image by:
• creating an image strip of the first frame from the zero position in the direction of the recording position (P2) of the subsequent frame, which corresponds with a first part of the distance;
• and
• creating an image strip of the subsequent frame from the zero position in the direction of the recording position of the first frame, which corresponds with a second part of the distance;
• wherein the first and the second part of the distance together correspond to the entire distance, and wherein the distances separating adjacent pairs of recording positions can vary such that the distances are non-uniform;
• wherein at least for one frame, pixels are ascertained that lie on the zero position of the frames;
• wherein the zero position is determined by means of a corner of at least one of a house wall or a calibration means;
• wherein the zero position is corrected by means of position and/or orientation data of the vehicle, in addition to using information pertaining to a course of a street being travelled by the vehicle;
• and
• wherein every subsequent pair of said image frames created is dependent on a distance separating a subsequent pair of adjacent ones of said recording positions, and every said subsequent pair of said image frames together correspond to the entire distance separating the two recording positions used to produce pair of said image frames.