Patent ID: 8818101

Claim:
A method, comprising: obtaining, by one or more computing devices, a plurality of radially-distorted images captured from one location in different directions, the plurality of images each having a field of view, and neighboring images among the plurality of images having overlapping fields of view; reducing, by the one or more computing devices, relative distortion of portions of the neighboring images in the overlapping fields of view of the neighboring images by warping the portions of the neighboring images in the overlapping fields of view of the neighboring images by barrel transforming the portions of the neighboring images in the overlapping fields of view of the neighboring images, the barrel transforms being centered beyond the field of view of the neighboring images in opposite directions for each of the neighboring images; matching, by the one or more computing devices, features between the reduced distortion portions of neighboring images in the overlapping fields of view; and storing, by the one or more computing devices, in memory data indicative of the matched features.