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Bundle Orientation and 3-D Object Reconstruction from Multiple-Station Panoramic 
Imagery 
Thomas Luhmann, Werner Tecklenburg 
University of Applied Sciences, Institute for Applied Photogrammetry and Geoinformatics, 
Ofener Str. 16, D-26121 Oldenburg, Germany - (luhmann, tecklenburg)@th-oldenburg.de 
Commission V, WG V/2 
KEY WORDS: Close Range Photogrammetry, Bundle adjustment, Orientation, Panorama image, 3-D reconstruction 
ABSTRACT: 
The paper presents a new method for the precise mosaicking and orientation of multiple images from two or more camera stations 
into cylindrical panoramic views. The objective is to generate panoramic images with high-precision orientation data in order to 
extract 3-D object information. The first part of this paper reports on a method for distortion-free stitching of standard frame imagery 
that generates panorama views of higher quality than it is qchieved by normal off-the-shelf panorama stitching programs. The second 
part addresses the problem of photogrammetric orientation of multiple station panoramas that is solved by a modifed bundle 
adjustment approach. Finally 3-D object information can be extracted from oriented panoramas in order to provide a cost-effective 
way of 3-D modeling of the interior of rooms and buildings. Hence, facility management and architectural applications can be 
identified as prior application areas for the presented approach. 
1. INTRODUCTION 
In conjunction with the use of modern information technology 
the three-dimensional surveying and reconstruction of complex 
industrial facilities and buldings are of growing importance. 
Digital 3-D models of existing objects are already used for 
planning pruposes, e.g. in architecture. However, the bandwidth 
of practical applications is much wider. As an example, in plant 
design precise geometric models are requested for the 
documentation of pipe structures, or the replacement of 
machine parts or facility components. The renovation or 
redesign of complex buildings such as railway stations, 
churches etc. is another example. 
In the growing area of facility management three-dimensional 
geometry data is also requested with increasing demand. Here, 
building information systems are used where spatial object 
information plays a major role. 
Digital panoramic imagery (360?-views) has been used 
increasingly over the last few years. However, their use is 
mainly restricted to viewing impressions. A number of 
commercial panorama viewers are available as plug-ins for 
internet browsers in order to provide high quaility all-around 
views of local environments, e.g. for touristic applications. 
Usually these panoramas can not be used for 3-D object 
reconstruction due to the lack of geometric camera models. 
The here presented approach for the generation and orientation 
of geometrically exact panoramas serves as a basis for the 
measurement of 3-D information of the interior of rooms. The 
defined image geometry (e.g. cylindrical projection) allows for 
3-D object reconstruction in analogy to standard methods of 
close-range photogrammetry. 
2. STANDARD METHODS OF PANORAMA IMAGE 
GENERATION 
Basically two different approaches for the generation of 
panoramic views can be distinguished: 
2.1 Image formation with rotating line-scanning cameras 
Rotating line-scanning cameras acquire a panorama by a 
complete 360? rotation from one camera station. As examples, 
the panorama cameras KARLINE (Dr. Clauf, Zwónitz) and 
EYESCAN (KST, Dresden) can be mentioned (Fig. 1). 
  
Fig. 1: Rotating line-scanning cameras EYESCAN and 
KARLINE 
During image acquisition both cameras are rotating in equal 
angular steps around their vertical axis while the integrated 
CCD line sensor is continously registering (Fig.2). A 
geometrically exact panorama is created if the imaging 
characteristics of the lens are known. Different approaches for 
the photogrammetric evaluation of rotating line-scanner 
cameras are discussed by Lisowski & Wiedemann (1999) and 
Scheele et al (2001). 
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