Scene reconstruction and geometrical rectification from stereo images

Abstract

A system to reconstruct three-dimensional scenes from stereo images is presented. The reconstruction is based on a dense disparity image obtained by a process of window correlation, applying a geometrical rectification before generating a three-dimensional matrix which stores the spatial occupation. The geometrical rectification is essential to correct the conical perspective of the camera and to obtain real scenes. For the geometrical rectification, three approaches are proposed, based on one linear and two logarithmic functions. As a result, the rectification allows the system to adequately correct the reconstruction, showing that the best choice depends on the features of the original images.