Method for forming panoramic images and related apparatus

Abstract

A method is described for forming a panoramic image (I); the method comprising: receiving (B) a plurality of images (I, I. . . Ir) of an environment from a corresponding plurality of cameras (C, C. . . Cr) at a given time instant (t), receiving (B) data on the position of the points relative to the physical objects of said environment shot by said plurality of cameras by at least one depth sensor (L, L. . . Lf) at said given time instant, processing (B) data obtained from the at least one depth sensor to construct the distance of all the objects contained inside said environment by a virtual camera (C), obtaining a three-dimensional map of the positions of the points relative to the physical objects of said environment, combining (B) said three-dimensional map with the information contained in a previously made and stored lookup table (LUT) and wherein a cell of said lookup table (LUT) is allocated to each pixel of the plurality of pixels which compose said panoramic image observed by said virtual camera (C), said cell storing the information on the pixels (Pi) of said plurality of images corresponding to the position of the single point (P) of the three-dimensional map and information on the weights (Wi) associated with said corresponding pixels of said plurality of images, linearly combining (B) said pixels of said plurality of images as a function of their weight obtaining said panoramic image.