Abstract: A method for dewarping a region of a fisheye view image , captured by a fisheye lens wherein the fisheye view image comprises a first dewarping pole, DP1. The method defines a region of interest, ROI, determining a center, G, of the ROI, defining a temporary annulus sector region such that the temporary annulus sector region comprises the ROI, and has its center at DP1 and has a temporary outer arc shaped edge and a temporary inner arc shaped edge, defining a second dewarping pole, DP2 at a distance, D, from DP1 along a radial direction extending from G of the ROI through the DP1, setting a dewarping annulus sector region comprising the ROI. The dewarping annulus sector region has its center at DP2 and has its dewarping inner arc shaped edge maintained at a same radial distance from DP1 as the temporary inner arc shaped edge.

Abstract: A device and method merge a first candidate area relating to a candidate feature in a first image and a second candidate area relating to a candidate feature in a second image. The first and second images have an overlapping region, and at least a portion of the first and second candidate areas are located in the overlapping region. An image overlap size is determined indicating a size of the overlapping region of the first and second images, and a candidate area overlap ratio is determined indicating a ratio of overlap between the first and second candidate areas. A merging threshold is then determined based on the image overlap size, and, on condition that the candidate area overlap ratio is larger than the merging threshold, the first candidate area and the second candidate area are merged, thereby forming a merged candidate area.