Patent Document ID: 9706118
Application ID: 14817510
Patent Status: 1

Claim One:
1. A method for generating a substantially 360 degree view from images taken from a plurality of cameras, the method comprising: capturing N input images from N cameras fixed at a baseline height substantially equidistantly about a circle in an omnipolar camera setup where N≧3, the cameras having ultra wide angle lenses oriented in a common direction, where every visible point surrounding the setup is capturable in stereo by at least two cameras; defining two epipolar lines per field of view from the cameras, the epipolar lines passing through a center point of each one of the cameras and a center point of two neighboring cameras and forming a total of N epipolar lines, to divide the field of view of each one of the cameras into four parts; stitching together image portions from each one of the cameras along vertical stitching planes passing through the epipolar lines to remove horizontal misalignments induced by parallax at stitching seams by, for each one of the cameras, selecting a first one of the four parts for a left eye view and a second one of the four parts for a right eye view; removing, from image portions, regions corresponding to a visible camera by: performing a first deviation along a first one of the epipolar lines for a given image portion, the first deviation following a shape of the visible camera in said given image portion; and compensating for the first deviation by performing a second deviation along a second one of the epipolar lines outside of said given image portion, the second deviation having a same shape as the first deviation; forming a first output image for a left eye omnistereo view of substantially 360 degrees by stitching together the first one of the four parts from each one of the fields of view, the first output image composed of N image portions, one from each of the N input images; and forming a second output image for a right eye omnistereo view of substantially 360 degrees by stitching together the second one of the four parts from each one of the fields of view, the second output image composed of N image portions, one from each of the N input images, the second one of the four parts corresponding to a 180° rotation of the first one of the four parts.