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International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part B5. Istanbul 2004 
  
The epipolar line geometry can be computed from the 
orientation parameters of a set of panoramic images, taking into 
consideration the additional parameters. It may be used to 
support the search of corresponding points during interactive 
stereo mapping, and is indispensable for semi or fully automatic 
processing of panoramic image data. Proceeding from a point in 
one panorama, the homologous point a second panorama can be 
searched for along the epipolar curve. The same point a third 
panorama can be found at the intersection point of two epipolar 
curves. 
44 Tangential projection 
The RGB information of the panoramic cylindrical surface of a 
panoramic image can be projected onto a tangential plane by a 
tangential projection. In this process, the panoramic image is 
converted into a central perspective view using the developed 
geometrical model, allowing to use it in conventional 
photogrammetric software tools. With this method only 
panorama sectors can be converted, whose panoramic angle is 
significantly smaller than 180°. The procedure can for example 
be used in architectural applications such as capturing façades 
(Fig. 15). 
  
Fig. 15: Panorama sector of a façade and tangential projection 
  
Fig. 16: Rectified image 
The panoramic image projected on the tangential plane was 
rectified by means of a projective transformation (Fig. 16). The 
advantage of this procedure over the use of area sensor cameras 
is a very high resolution of rotating line panoramic cameras, 
which allows for the recognition and mapping of very fine 
object detail in the image. The original image of the panoramic 
sector shown in Fig. 15 has ca. 64 million pixel. 
5. FUTURE PROSPECTS 
The presented algorithms for the photogrammetric processing 
of panorama pictures were programmed in the form of functions 
and already partly integrated in a user software package of the 
company fokus GmbH Leipzig. This integration will be 
completed in the next months, so that comprehensive software 
will finally be available for highly exact three-dimensional 
processing of panoramic images. 
ACKNOLEDGEMENT 
The results presented in this paper were developed in the 
context of the project "Terrestrial rotating line wide-angle 
camera for digital close range photogrammetry", which is 
funded by resources of the European Fund of Regional 
Development (EFRE) 2000 - 2006 and by resources of the State 
Saxony. The authors would like to thank the companies KST 
(Kamera System Technik Dresden GmbH) and the fokus GmbH 
Leipzig, which are also participants in the project. In addition, 
special thanks apply the AICON 3D-Systems GmbH to the 
supply of the calibration room. 
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