Patent Document ID: 9019350
Application ID: 13445454
Patent Status: 1

Claim One:
1. A method for stereo rectifying a pair of images, the method comprising: for each image of the pair of images, estimating a position of an epipole in an image plane associated with a first camera orientation of a camera that captures said image; calculating a function forming a surface in a four dimensional space and resembling a paraboloid, using said estimated position in each image, the four dimensional space having parameters for errors of said estimated position of the epipole in each image; calculating a four dimensional gradient descent of the function using initial values for said parameters for errors of said estimated position; repeating said calculating a four dimensional gradient descent using reduced values for said parameters for errors of said estimated position until the calculated function is less than a predetermined value, to determine a minimum of said function; determining a true position of the epipole from said minimum of said function; for each image of the pair of images, positioning the epipole with the true position in a center of a virtual image plane associated with a second camera orientation of said camera; subsequent to said positioning, aligning the pair of images relative to each other by rotating around a stereo base line that intersects the epipoles of the pair of images, and rotating the virtual image planes to position said virtual image planes substantially parallel to the stereo base line and their normal vectors substantially parallel to each other so as to obtain a stereo rectified pair of image planes, wherein the method is performed by one or more processors.