International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part B3. Istanbul 2004 
  
  
    
  
  
* 
9 
* 
  
(a) 
(b) 
Fig. 3. The — OQ, compensation of baseline for creating image 
mosaics. 
a 
VD (t) (t) (t1) 
(a) (b) 
Fig. 4. Parallel baselines, fault intersection among baselines 
(BL), and infinite range in intersection area. 
In case that baseline BL(#) parallels to neighbor baseline BL(t- 
I) and BL(t+1) originated that the distance among the objects 
projected on successive images is too long or image plane 
parallels neighbor image planes (see Fig. 4(a)) also there is 
faced with fault intersection among baselines like Fig. 4(b), it is 
difficult to create video mosaics. In those cases, the pose and 
the position of the baseline must be modified. To modify the 
fault intersections of baselines, this paper proposes 3 steps; at 
first step, evaluating all dependent baselines per image frame 
and then detecting the cases of Fig. 3 and Fig.4, at the last step, 
modifying the pose and the position of baselines like Fig. 5. At 
the second step, baseline must be checked whether the baseline 
intersects from the center of previous baseline BL(t-]) to 
7.22 and from -T,,,/2 to the center of next baseline 
BL(t+1) or not. In case of detecting fault intersection, the 
baseline is modified as the line that passes 
BL a IG. , Y £p 0,60. Ty /2,0,0) and 
BL), = ICX Y mats D. (T. a / 2,0,0) . The 
image translation (Th Ta}oonds 
10906, 06.6, hw = 8X, =X, 0 Yn ly Zi) 
. The equation of the baseline is following as: 
Z=aX +b (11) 
BL az T BL),,, pa HI ee 
r 2 T A,t,Z ALY 
BL ax = BL, x 
L,t+1> 
calculated as 
Where à = 
Video mosaics will be obtained through liking those baselines 
and general baselines like Fig. 6. 
MULTI- 
42 IMAGE PROJECTION ON THE 
BASELINES 
The equation of image projection on the multi-baselines is Eq 
(2) set camera station, camera pose, and the equation of 
  
baseline. In Fig. 7, the lines of b and d are calculated by using 
the length of baseline and the lines of a and c are calculated by 
using the height of image frame. 
m X +mbY +mi, 
X í—-————À—nÓ— 
my X +m;,Y +1 (12) 
my, X t myY 4m, 
y eR 
MX + Y +1 
  
  
  
' (M, +M,,à , M, 
Where m, = 71 n 134) ; m, = f —* > 
. ’ 12 . , 
ms, Mas 
m! sop Sadun Mali  Mab MD ; 
BB A. ! 
m 
1 OM UEM. Corio 
m,, sy ut e ’ m,, zm = d 
2 Mas m. 
m. = (M4 X, + MY, =p M,Z, ET Mb) : 
oy tT, 
m 
, ede ! , aa of 
my = My, + Malm, ; my =M,, my, 3 
mi. --(M. Lu MY, + MZ, — 5) - 
  
     
Original...... 
baseline 
Fig. 5. New baseline in case of fault intersection among 
baselines (BL) and around intersection area. 
  
  
  
3D Viewer 
  
  
  
  
  
  
Fig. 6. Conceptual result by the proposed method. 
  
  
a 
  
   
  
di 3 Projection 
  
  
  
730 
Fig. 7. Projection relationship between an image plane and a 
  
  
   
Inter: 
  
base- 
For r 
space 
meth 
trans 
of m 
fram 
basel 
and | 
creat 
9(a). 
angle