Abstract
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 steroo 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.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Ayache, N., Lustman, F., 1991, Trinocular stereo vision for robotics,IEEE T-PAMI,13: 73–855.
Fusiello, A., Trucco, E., Verri, A., 2000. A Compact Algorithm for Rectification of Stereo Pairs. Machine Vision and Application, USA.
Hartley, R., Gupta, R., 1993. Computing Matched Epipolar Projections. Proceedings of IEEE CVPR, p. 549–555.
Hartley, R., 1997. Self-calibration of stationary cameras.IJCV,22 (1): 5–23.
Hartley, R., 1999. Theory and practice of projective rectification.IJCV,35 (2): 1–16.
Isgro, F., Trucco, E., 1999. Projective rectification without epipolar geometry.IEEE-CVPR,1: 94–99.
Kang, S. B., Webb, J. Zitnick, C., Kanade, T., 1994. An Active Multibaseline Stereo System with Real-Time Image Acquisition. Tech. Report. CMU-CS-94-167. Carnegie Mellon University.
Kanade, T., 1995. Development of A Video-Rate Stereo Machine. Proc. of International Robotics and Systems Conference (IROS'95),3: 95–100.
Kanade, T., Yoshida, A., Oda, K., Kano, H., Tanaka. M., 1996. A Stereo Machine for Video-rate Dense Depth Mapping and Its New Applications. Proceedings of IEEE CVPR, p. 196–202.
Loop, C., Zhang, Z. Y., 1999. Computing rectifying homographies for stereo vision. Proceedings of IEEE CVPR,1: 125–131.
Mulligan, J., Kaniilidis, K., 2000. Trinocular Stereo for Non-parallel Configurations. International Conference on Pattern Recognition (ICPR),1: 567–570.
Robert, L., Buffa, M., Hebert, M., 1995. Weakly Calibrated Stereo Perception for Rover Navigation. Proceedings of ICCV-95, p. 46–51.
Williamson, T., Thorpe, C., 1998. A Specialized Multibaseline Stereo Technique for Obstacle Detection. Proceedings of IEEE CVPR, p. 238–244.
Zhang, Z. Y., Ma, S. D., 2000. Computational Vision. Science Press, China (in Chinese).
Author information
Authors and Affiliations
Corresponding author
Additional information
Project (No. 60105003) supported by the National Natural Science Foundation of China.
Rights and permissions
About this article
Cite this article
Du, X., Li, Hd. & Gu, Wk. A simple rectification method for linear multi-baseline stereovision system. J. Zheijang Univ.-Sci. 5, 567–571 (2004). https://doi.org/10.1631/jzus.2004.0567
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1631/jzus.2004.0567