Kakiuchi, Tsutomu 
For automated panora mic imaging, vertical and horizontal angles for panoramic area should be previously obtained, and 
rotation angles for each sequential right image can be calculated using the camera angle, which is calculated using the 
de of the relationship between the focal length and effective sensor area. Then, camera angle is calculated with the following 
equation. 
eodolite. 
ical and è = 2tan'(n» s/2 f) G) 
id are 
asc are Where,  ;camera angle, f; focal length, n; pixel number, 5; pixel size 
it image 
ea based 
On the other hand, each sequential image should be transformed into ortho projection image since the sequential right 
images are central projection image, and central projection image were resampled into ortho projection image. Here, 
automated panoramic imaging can be achieved overlapping with corresponding coordinate since the ortho images have 
common coordinate system. 
Consequently, spatial data for the indoor space are calculated from the following equation on the assumption that 
distance from the video theodolite to walls are constant. 
> found. 
(4) 
« apxtazyta » La 
UE uj (7 - z;) 
a;X tay tassf 
x apxXtapytasf (z* Z:) 
- Lo 
a,3X +A23Y + A33f 
(6) 
where, X),Yy,Zy; corrected camera position X,Y,Z; object coordinate, x ,y; image coordinate f focal length, 
a;j; rotation matrix with three parameters, 5 , 
The detail procedures for automated panoramic imaging are as follows: 
+ Camera calibration 
+ Calculation of camera angle 
+ Establishment of panoramic area 
+ Calculation of rotation angle for each sequential image 
+ Calculation of spatial data for all pixels 
+ Resampling 
+ Mosaicking 
+ Tone correction 
Figure 5 shows the panoramic image was consist of 52 sequential images. 
image, 
; model 
can be 
les just 
  
ng the 
ortho 
ce the 
  
Figure 12. Panoramic image (Elevator hall in the Tokyo Denki University, Japan) 
  
International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000. 419