Chapter 3. Spatial Alignments

  1. Fay Huang1,
  2. Reinhard Klette2 and
  3. Karsten Scheibe3

Published Online: 17 OCT 2008

DOI: 10.1002/9780470998267.ch3

Panoramic Imaging: Sensor-Line Cameras and Laser Range-Finders

Panoramic Imaging: Sensor-Line Cameras and Laser Range-Finders

How to Cite

Huang, F., Klette, R. and Scheibe, K. (2008) Spatial Alignments, in Panoramic Imaging: Sensor-Line Cameras and Laser Range-Finders, John Wiley & Sons, Ltd, Chichester, UK. doi: 10.1002/9780470998267.ch3

Author Information

  1. 1

    Institute of Computer Science and Information Engineering, National Ilan University, Taiwan

  2. 2

    Department of Computer Science, The University of Auckland, New Zealand

  3. 3

    German Aerospace Center (DLR), Germany

Publication History

  1. Published Online: 17 OCT 2008
  2. Published Print: 10 OCT 2008

Book Series:

  1. Wiley-IS&T Series in Imaging Science and Technology

Book Series Editors:

  1. Michael A. Kriss

ISBN Information

Print ISBN: 9780470060650

Online ISBN: 9780470998267



  • 3D space panoramic sensor positioning;
  • spatial alignments;
  • inhomogeneous and homogeneous coordinates;
  • 3D coordinate systems and affine transform;
  • conjugated quaternion;
  • single-center panorama - nodal point;
  • coordinate system panorama;
  • spherical capturing surfaces;
  • cylindrical panorama - geometric projection formula


This chapter contains sections titled:

  • Mathematical Fundamentals

  • Central Projection:World into Image Plane

  • Classification of Panoramas

  • Coordinate Systems for Panoramas

  • Geometric Projection Formula for Cylindrical Panorama

  • Rotating Cameras

  • Mappings between Different Image Surfaces

  • Laser Range-Finder

  • Exercises

  • Further Reading