Epipolar rectification

A. Fusiello, E. Trucco and A. Verri


Given a pair of stereo images, rectification determines a transformation of each image plane such that pairs of conjugate epipolar lines become collinear and parallel to one of the image axes. The rectified images can be thought of as acquired by a new stereo rig, obtained by rotating the original cameras. The important advantage of rectification is that computing stereo correspondences is reduced to a 1-D search problem along the horizontal raster lines of the rectified images. We present a linear rectification algorithm for general, unconstrained stereo rigs. The algorithm requires the two perspective projection matrices of the original cameras, and enforces explicitly all constraints necessary and sufficient to achieve a unique pair of rectifying projection matrices.

Reference paper

_Uncalibrated_ epipolar rectification

This technique allows to rectify stereo pairs when calibration data (perspective projection matrices) are not available. The only required input are point correspondences. The code for image matching can be downloaded here (it depends on functions from other authors).

Reference paper