A Robust Epipolar Rectification Method of Stereo Pairs

Rectification of stereo vision is also call rectification of Epipolar Lines. For searching the corresponding points rapidly and accurately, the rectification is used to make the epipolar lines of stereo images be parallel to the horizontal direction and remove the parallax in vertical direction. In the paper, a robust algorithm is presented to rectify the stereo images based on the traditional projective rectification algorithm. In this method, the rectification is composed of several steps, and the transformation matrix is calculated by the corresponding points and then is optimized by Levenberg-Marquardt method and Evolutionary Programming (EP) algorithm. And meanwhile the RANSAC algorithm is used, which avoid the severe error caused by the noise and wrong correspondence. Furthermore, a robust optimization function is proposed for the situation of slight movement of two cameras. Experiments with real images show that the method is an effective rectification method.