Cylindrical rectification to minimize epipolar distortion
First Claim
1. A method for rectifying first and second images of a single scene for stereoscopic analysis, the method comprising the steps of:
- providing the first image from a first camera having a first optical center and a first geometry relative to the scene, the first image comprising a plurality of epipolar lines wherein each point on each of the epipolar lines is expressed in a first image coordinate system;
providing the second image from a second camera having a second optical center and a second geometry relative to the scene, the second image comprising a plurality of epipolar lines wherein each point on each of the epipolar lines is expressed in a second image coordinate system;
rotating each point on each epipolar line of the first image to be parallel to a line connecting the first and second optical centers of the first and second cameras;
rotating each point on each epipolar line of the second image to be parallel to the line connecting the first and second optical centers of the first and second cameras;
transforming the first image coordinate system of each point on each of the epipolar lines of the first image to a first cylindrical coordinate system;
transforming the second image coordinate system of each point on each of the epipolar lines of the second image to a second cylindrical coordinate system;
projecting each rotated epipolar line of the first image expressed in the first cylindrical coordinate system onto the surface of a first cylinder having a first diameter, wherein each projected epipolar line of the first image has a position around the first cylinder surface such that a rectified first image is formed thereon; and
projecting each rotated epipolar line of the second image expressed in the second cylindrical coordinate system onto the surface of a second cylinder having a second diameter, wherein each projected epipolar line of the second image has a position around the second cylinder surface such that a rectified second image is formed thereon.
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Abstract
A method for rectifying first and second images of a single scene for stereoscopic analysis is provided. The method has first and second steps of providing the first and second images from first and second cameras. The first camera having a first optical center and a first geometry relative to the scene, the second camera having a second optical center and a second geometry relative to the scene. The first and second images each comprise a plurality of epipolar lines wherein each point on each of the epipolar lines is expressed in a first and second image coordinate system, respectively. Third and fourth steps are provided wherein each point on each epipolar line of the first and second images are rotated to be parallel to a line connecting the first and second optical centers of the first and second cameras. In fifth and sixth steps, the first and second image coordinate systems of each point on each of the epipolar lines of the first and second images are transformed to a first and second cylindrical coordinate system, respectively. In seventh and eighth steps, each rotated epipolar line of the first and second images expressed in the first and second cylindrical coordinate systems are projected onto the surface of first and second cylinders having first and second diameters, wherein each projected epipolar line of the first and second images have a position around the first and second cylinder surfaces such that rectified first and second images are formed thereon.
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Citations
12 Claims
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1. A method for rectifying first and second images of a single scene for stereoscopic analysis, the method comprising the steps of:
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providing the first image from a first camera having a first optical center and a first geometry relative to the scene, the first image comprising a plurality of epipolar lines wherein each point on each of the epipolar lines is expressed in a first image coordinate system; providing the second image from a second camera having a second optical center and a second geometry relative to the scene, the second image comprising a plurality of epipolar lines wherein each point on each of the epipolar lines is expressed in a second image coordinate system; rotating each point on each epipolar line of the first image to be parallel to a line connecting the first and second optical centers of the first and second cameras; rotating each point on each epipolar line of the second image to be parallel to the line connecting the first and second optical centers of the first and second cameras; transforming the first image coordinate system of each point on each of the epipolar lines of the first image to a first cylindrical coordinate system; transforming the second image coordinate system of each point on each of the epipolar lines of the second image to a second cylindrical coordinate system; projecting each rotated epipolar line of the first image expressed in the first cylindrical coordinate system onto the surface of a first cylinder having a first diameter, wherein each projected epipolar line of the first image has a position around the first cylinder surface such that a rectified first image is formed thereon; and projecting each rotated epipolar line of the second image expressed in the second cylindrical coordinate system onto the surface of a second cylinder having a second diameter, wherein each projected epipolar line of the second image has a position around the second cylinder surface such that a rectified second image is formed thereon. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification