The proposed method is implemented by a software on a PC cluster consisting of 4 PCs (2 DualPentiumII-450MHz and 2 Dual PentiumIII-500MHz, OS: Linux-2.2.9 SMP supported) connected with 100M ethernet LAN. We use a head-set type of head-mounted display (HMD) and a small color CCD camera attached on the HMD as shown left. Created video frames with annotations are shown in Figure 2. ([movie]) A set of panoramic images used are shown in Figure 3.
Figure 3. A set of panoramic images.
The method could robustly establish image registration between video frames and the panoramic images even if objects not present in the panoramic images or moving objects were present in the frames. The processing time required for searching for the panoramic image that includes the input frame and image registration is 30 x N x P [msec] where N is the number of initial estimates, and P is the number of panoramic images. In this experiment, N=20 and P=4. The throughput and delay of the processing required are 100-120 [msec] (or 8-10 [frame/s]) and 600 [msec], respectively.