Panoramic Video with Predictive Windows for Telepresence Applications

In this paper we describe the application of a predictive Kalman filter to the display of panoramic images. We discuss integrating a panoramic imaging system with prediction of viewing direction to create an effective telepresence system over low bandwidth links. Panoramic imaging using a reflective mirror surface offers an alternative to pan-tilt systems for obtaining a 360 degree field of view. Selecting a small window within a panoramic image allows a meaningful part of an image from a remote site to be seen at a higher refresh rate. Because of the delay in transmitting an image from a remote site, it is necessary to have additional image information available locally. This information can be used to simulate continuously flowing pictures with reduced apparent delay. Continuity in image viewing is achieved by predicting the next viewpoint of an operator and preemptively transmitting parts of an image. Experimental results are given to evaluate the proposed telepresence system.