A simple rectification method for linear multi-baseline stereovision system

INTRODUCTION Stereo rectification is a crucial processing forany practical stereovision system; and is aimedtransform images so that the conjugate epipolarlines are aligned horizontally and in parallel. Variedand numerous rectification algorithms have beengiven in literature (Ayache and Lustman, 1991;Fusiello et al., 2000; Hartley, 1999; Robert et al.,1995; Mulligan and Kaniilidis, 2000; Isgro andTrucco, 1999). Most of them involve applying ahomography transformation for that purpose. …

A simple rectification method for linear multi-baseline stereovision system

The linear multi-baseline stereo system introduced by the CMU-RI group has been proven to be a very effective and robust stereovision system. However, most traditional stereo rectification algorithms are all designed for binocular stereovision system, and so, cannot be applied to a linear multi-baseline system. This paper presents a simple and intuitional method that can simultaneously rectify all the cameras in a linear multi-baseline system. Instead of using the general 8-parameter homography transform, a two-step virtual rotation method is applied for rectification, which results in a more specific transform that has only 3 parameters, and more stability. Experimental results for real stereo images showed the presented method is efficient.