Abstract
Efficient stereo matching algorithms search for corresponding points along the epipolar lines defined by the camera properties and configuration. In real cameras, lens distortions and misaligned cameras lead to sloping curved epipolar lines on the raw images.
To minimize latencies in a system designed to produce 3D environment maps in real time, positions on the epipolar lines must be computed rapidly and efficiently. We describe the rectification components of a real-time high resolution stereo system in which two high resolution cameras are connected via FireWire links to an FPGA which removes lens distortion and misalignment errors with minimal latency. Look up tables and interpolations are used to provide a balance between high speed and accuracy.
After analysing the loss in accuracy from this approach, we show that, for lenses with significant distortions, tables which contain an entry for every 16th pixel provide accurate interpolated intensities. For better (lower distortion) lenses, the lookup tables can be even smaller. The latency is several scan lines and is determined by the lens distortions and camera misalignments themselves.
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© 2008 Springer-Verlag Berlin Heidelberg
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Akeila, H., Morris, J. (2008). High Resolution Stereo in Real Time. In: Sommer, G., Klette, R. (eds) Robot Vision. RobVis 2008. Lecture Notes in Computer Science, vol 4931. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-78157-8_6
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DOI: https://doi.org/10.1007/978-3-540-78157-8_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-78156-1
Online ISBN: 978-3-540-78157-8
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