	US 7,518,636 B2
	Image processing apparatus and image processing method
Takaaki Endo, Chiba (Japan); Akihiro Katayama, Kanagawa (Japan); Masahiro Suzuki, Kanagawa (Japan); Daisuke Kotake, Kanagawa (Japan); and Yukio Sakagawa, Tokyo (Japan)
Assigned to Canon Kabushiki Kaisha, Tokyo (Japan)
Filed on Feb. 18, 2004, as Appl. No. 10/779,791.
Claims priority of application No. 2003-044488 (JP), filed on Feb. 21, 2003; and application No. 2003-319808 (JP), filed on Sep. 11, 2003.
Prior Publication US 2004/0183898 A1, Sep. 23, 2004
Int. Cl. H04N 5/228 (2006.01)

U.S. Cl. 348—208.99 [382/154]

6 Claims

1. An image processing method for generating a panoramic image from a plurality of images obtained by a respective plurality of image sensing devices, wherein the plurality of image sensing devices are located to have fixed relative positions, said method comprising the steps of:

calculating first transform conditions, each of which is for transforming an orientation of a respective one of the plurality of image sensing devices at a target image frame into an orientation at a predetermined image frame which is different from the target image frame;

obtaining second transform conditions, each of which corresponds to a respective one of the plurality of image sensing devices, based on each of coordinate systems of the image sensing devices and a coordinate system of a virtual image sensing device;

calculating, for each of the image sensing devices, a respective orientation of the virtual image sensing device at the predetermined image frame based on the first and second transform conditions;

calculating, based on the calculated orientations of the virtual image sensing device, correction transforms each of which is for reducing a shakiness of respective image sensing devices at the target image frame;

composing a panoramic image using images sensed at the target image frame by the plurality of image sensing devices; and

displaying the panoramic image by applying the correction transforms.