Quasi-Euclidean Epipolar Rectification

Abstract

The standard setup in reconstructing the three-dimensional geometry of a scene from a pair of stereo images is to have them rectified, in which case the apparent motion of points is horizontal. With pinhole cameras, it is always possible to find two homographies that rectify the images. The method of Fusiello and Irsara assumes that both cameras are the same with principal point at the center, but keeps the focal length as an unknown. The virtual rotations of the two cameras are then evaluated to minimize the vertical motion of points. Source Code C++ source code of the full pipeline (containing SIFT point detection and matching, ORSA, rectification) is provided on the IPOL web page of this article 1 .