Patent ID: 6011863
Filing Date: 2000-01-04
Classification: H04N

Abstract:
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; andprojecting 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.