A.: “An advanced sensor model for panoramic cameras

Digital terrestrial panoramic cameras constitute an interesting new development, which is currently primarily used for purely imaging purposes such as indoor imaging, landscape recording, tourism advertising and Internet representations. However, the capability of taking high-resolution images continuously over the full horizon generates an efficient means for 3D object reconstruction as well. For that the particular sensor model has to be established and the inherent accuracy potential has to be investigated. We designed a sensor model, which models substantial deviations from the pinhole model using additional parameters. The sensor model maps the object space into the image space. The mapping function is the pinhole model-based perspective transformation in the form of bundle equations. In practice, there are many systematic errors disturbing the ideal model, which can be modeled as additional parameters. Additional parameters relate to the camera itself, the configuration of camera and turntable, and mechanical errors of the camera system during rotation (i.e. tumbling). In this paper we will present the results of calibration with additional parameters for two panoramic cameras, which indicate a subpixel accuracy level for such highly dynamic systems. We also investigate into the problem of temporal stability of the systematic errors. Finally we will demonstrate the systems ’ accuracy in 3D point positioning, including minimal number of control points adjustment. With these new panoramic imaging devices we do have additional powerful sensors for image recording and efficient 3D object modeling. 1