Vehicle-mounted mobile system based on panoramic camera can obtain panoramic images with exact position and p osture information. Based on these data

we propose a method to generate panoramic epipolar images. First

we describe the process of constructing geometric constraints between two panoramic images in the spherical panorama model. Then the two panoramic epipolar images are matched using the SIFT algorithm. Finally

according to the principle that the center of photography

namely image point and object point

are collinear

the collinearity equation of the panoramic images are deduced and the three-d imensional coordinates are calculated by the principle of the forward intersection.The following steps are used to generate panoramic epipolar images. First

the baseline direction is determined according to the position and attitude of two panoramas. The Z axis of the panorama is then turned to the baseline direction by two rotations. F inally

the panorama is projected to the plane image according to the new coordinate.The two panoramic epipolar images are matched using the SIFT algorithm to remove certain error matching points by panoramic epipolar geometry. This paper does not apply the conventional collinearity equations

but derives the relations between image point and object point in spherical model

and then in a unified coordinate system

derives the relations between corresponding i mage points in panoramic images and object point. Finally

the three-dimensional coordinates are calculated by the principle of forwardintersection. The coordinates（ three values: X Y Z） for a pair of corresponding points can be calculated by four equations（ one image corresponds to two equations）.Three experiments were designed to verify the validity of the methods. In the first experiment

generating panoramic epipolar images

the column numbers of the homonymous points in two panoramic epipolar images are close

indicating that the epipolar images are correct. In the SIFT matching experiment

no obvious error matching points were observed for the panoramic epipolar image matching. In the final experiment

the three-dimensional coordinates was calculated using the panoramic intersection. The object space points calculated with the points in the point cloud were then compared to obtain the coordinate accuracy of about 1 0 cm to 20 cm.Experimental results showed that the proposed method to generate panoramicepipolar images is effective

achieves the correct panoramic collinearity condition equations

can reduce the difficulty in panoramic image matching

improves the quantity and p recision of the matching

and can be used to implement measurement based on panoramic images.