Image stitching

with RANSAC
EAGLE EYE
Image stitching has applications in many places, such as
panoramic shooting in smartphone, high-precision map
synthesis for aerial photography of drones, and medical image
stitching. Image stitching with RANSAC has a wide range of
applications in these areas.

1.Keypoint detector: SIFT/SURF

2.Find Homography with RANSAC
3.Stitching images with Center Sequence

Step 1:Stitch two images

Step 2:Stitch images in sequence
Step 3:Compare the result with PTGui (Pro Stitching software)
Compute Transformations
𝑋 ′ =𝐻𝑋

[ ] [ ] [ ] [ ]
1 0 𝑥𝑡 co 𝑠 𝛉 − 𝑠𝑖𝑛 𝛉 𝑥𝑡 𝑎 0 𝑏1 𝑎 𝑏 𝑐
𝐻 𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛 = 0 1 𝑦𝑡 𝐻 𝐸𝑢𝑐𝑙𝑖𝑑𝑒𝑎𝑛 = 𝑠𝑖𝑛 𝛉 𝑐𝑜𝑠 𝛉 𝑦𝑡 𝐻 𝑠𝑖𝑚𝑖𝑙𝑎𝑟𝑖𝑡𝑦 = 0 𝑎 𝑏2 𝐻 𝑎𝑓𝑓𝑖𝑛𝑒= 𝑑 𝑒 𝑓
0 0 1 0 0 1 0 0 1 0 0 1

{
𝑎 𝑥 𝑖 +𝑏 𝑦 𝑖 +𝑐

[ ] [ ][ ][ ]
′
𝑎 𝑏 𝑐 𝑥
′
𝑎 𝑏 𝑐 𝑥𝑖 𝑥 𝑖=  

{
𝑖 𝑔 𝑥𝑖 + h 𝑦 𝑖 +1 ′
𝐻 𝑝𝑟𝑜𝑗𝑒𝑐𝑡𝑖𝑣𝑒 = 𝑑 𝑒 𝑓 𝑦 = 𝑑
′ 𝑒 𝑓 𝑦𝑖 𝑥 𝑖 (𝑔 𝑥 𝑖 +h 𝑦 𝑖 +1)=𝑎 𝑥𝑖 +𝑏 𝑦 𝑖 +𝑐
𝑖
𝑔 h 1 𝑑 𝑥 𝑖 +𝑒 𝑦 𝑖 + 𝑓
𝑔 h 1 1 1 𝑦 ′𝑖 =   𝑦 ′𝑖 ( 𝑔 𝑥 𝑖 +h 𝑦 𝑖 +1)=𝑑 𝑥 𝑖 +𝑒 𝑦 𝑖 + 𝑓
𝑔 𝑥 𝑖 +h 𝑦 𝑖 +1
=
So it own 8 DOFs(Degree of freedom) and a 2D point has two DOFs
to (x,y) components
Stitching images with Center Sequence
4

2
1 3

Mid
zero one three four
two

1 2

Mid
zero two three
one
Stitching images with Center Sequence
Compare Our Panorama with PTGui