Fay Huang & Reinhard Klette 
Panoramic Imaging [PDF ebook] 
Sensor-Line Cameras and Laser Range-Finders

Preface.
Series Preface.
Website and Exercises.
List of Symbols.
1. Introduction.
1.1 Panoramas
1.2 Panoramic Paintings
1.3 Panoramic or Wide-Angle Photographs
1.4 Digital Panoramas
1.5 Striving for Accuracy
1.6 Exercises
1.7 Further Reading
2. Cameras and Sensors.
2.1 Camera Models
2.2 Optics
2.3 Sensor Models
2.4 Examples and Challenges
2.5 Exercises
2.6 Further Reading
3. Spatial Alignments.
3.1 Mathematical Fundamentals
3.2 Central Projection:World into Image Plane
3.3 Classification of Panoramas
3.4 Coordinate Systems for Panoramas
3.5 General Projection Formula for Cylindrical Panorama
3.6 Rotating Cameras
3.7 Mappings between Different Image Surfaces
3.8 Laser Range-Finder
3.9 Exercises
3.10 Further Reading
4. Epipolar Geometry.
4.1 General Epipolar Curve Equation
4.2 Constrained Poses of Cameras
4.3 Exercises
4.4 Further Reading
5. Sensor Calibration.
5.1 Basics
5.2 Preprocesses for a Rotating Sensor-Line Camera
5.3 A Least-Square Error Optimization Calibration Procedure
5.4 Geometric Dependencies of R and w
5.5 Error Components in LRF Data
5.6 Exercises
5.7 Further Reading
6. Spatial Sampling.
6.1 Stereo Panoramas
6.2 Sampling Structure
6.3 Spatial Resolution
6.4 Distances between Spatial Samples
6.5 Exercises
6.6 Further Reading
7. Image Quality Control.
7.1 Two Requirements
7.2 Terminology
7.3 Parameter Optimization
7.4 Error Analysis
7.5 Exercises
7.6 Further Reading
8. Sensor Analysis and Design.
8.1 Introduction
8.2 Scene Composition Analysis
8.3 Stereoacuity Analysis
8.4 Specification of Camera Parameters
8.5 Exercises
8.6 Further Reading
9. 3D Meshing and Visualization.
9.1 3D Graphics
9.2 Surface Modeling
9.3 More Techniques for Dealing with Digital Surfaces
9.4 Exercises
9.5 Further Reading
10. Data Fusion.
10.1 Determination of Camera Image Coordinates
10.2 Texture Mapping
10.3 High Resolution Orthophotos
10.4 Fusion of Panoramic Images and Airborne Data
10.5 Exercises
10.6 Further Reading
References.
Index.

Reinhard Klette is currently a Professor and Chair in Information Technology at the University of Auckland, New Zealand. He is an experienced author, having already co-written the books Digital Geometry: Geometric Methods for Digital Picture Analysis (Morgan Kaufmann, 2004), Computer Vision: Three-Dimensional Data from Images (Springer, 2001) and Handbook of Image Processing Operators (Wiley, 1996), and co-edited the books Geometric Properties for Incomplete Data (Kluwer, 2005), Performance Characterization in Computer Vision (Kluwer, 2000) and Geometry, Morphology, and Computational Imaging (Kluwer, 2003). He has also co-authored over 80 journal papers, and over 160 conference papers. He teaches courses in Picture Processing and Analysis and Computer Vision and his research interests are in shape recovery and scene/object visualisation based on captured pictures/video, geometric subjects relevant to picture analysis and computer vision, and applications of picture analysis/computer vision.
Fay Huang finished her Ph D on the geometry and applications of rotating line cameras in 2002. She was supervised by Reinhard Klette at the University of Auckland, New Zealand.
Karsten Scheibe is currently completing his Ph D on combining laser range data with images captured by rotating line cameras. He is involved in major projects in Germany using this technology, such as a full 3D reconstruction of castle Neuschwanstein based on 1800 laser scans and hundreds of panoramic images for texture mapping.