Global Alignment and Structure from Motion

Solving for camera rotation


•	Instead of spherically warping the images and

	solving for translation, we can directly solve

	for the rotation R_j of each camera

•	Can handle tilt / twist

$C:\snavely\tmp\test\samplePanos\MS_Lobby\DSC00021.jpg$

$C:\snavely\tmp\test\samplePanos\MS_Lobby\DSC00045.jpg$

$C:\snavely\tmp\test\samplePanos\MS_Lobby\DSC00046.jpg$