Tutorial on Rectification of Stereo Images

Andrea Fusiello
Dipartimento di Matematica e Informatica
Università di Udine, Italia
fusiello@dimi.uniud.it

• Introduction
• Camera model and epipolar geometry
  • Camera model
  • Epipolar geometry
• Rectification
  • Constraining the rectifying PPMs
    • Common focal plane.
    • Position of the optical centres.
    • Alignment of conjugate epipolar lines.
    • Note.
    • Orientation of the rectifying retinal plane.
    • Orthogonality of the rectifying reference frames.
    • Principal points.
    • Focal lengths in pixels.
    • Set the scale factor.
  • Solving for the rectifying PPM
  • The rectifying transformation
• Summary of the algorithm
• References