Depth-based image stitching for handling parallax

A computer program product for image stitching, the computer program product being embodied in a tangible computer readable storage medium and comprising computer instructions for:

• estimating a depth of objects in a stitching region of two images;
• aligning the two images based at least in part on aligning the objects in the stitching region using the estimated depth of the objects;
• and
• stitching the aligned images to form a stitched image.

An image stitching system comprising:

• a processor;
• and
• a memory coupled with the processor, wherein the memory is configured to provide the processor with instructions that when executed cause the processor to:
• rectify a first image to form a first rectified image and rectify a second image to form a second rectified image;
• determine a first disparity map and a second disparity map based at least in part on the first rectified image and the second rectified image;
• align the first rectified image and the second rectified image based at least in part on the first disparity map and the second disparity map;
• and
• stitch the aligned images to form a stitched image.

A computer program product for image stitching, the computer program product being embodied in a tangible computer readable storage medium and comprising computer instructions for:

• rectifying a first image to form a first rectified image and rectifying a second image to form a second rectified image;
• determining a first disparity map and a second disparity map based at least in part on the first rectified image and the second rectified image;
• aligning the first rectified image and the second rectified image based at least in part on the first disparity map and the second disparity map;
• and
• stitching the aligned images to form a stitched image.