Intersection detection in panoramic video

Abstract

Provides a system for detecting an intersection between more than one panoramic video sequence and detecting the orientation of the sequences forming the intersection. Video images and corresponding location data are received. If required, the images and location data is processed to ensure the images contain location data. An intersection between two paths is then derived from the video images by deriving a rough intersection between two images, determining a neighborhood for the two images, and dividing each image in the neighborhood into strips. An identifying value is derived from each strip to create a row of strip values which are then converted to the frequency domain. A distance measure is taken between strips in the frequency domain, and the intersection is determined from the images having the smallest distance measure between them. The orientation between the two paths may also be determined in the frequency domain by using the phases of signals representing the images in the Fourier domain or performing a circular cross correlation of two vectors representing the images.