FireWire system architecture (2nd ed.): IEEE 1394a
FireWire system architecture (2nd ed.): IEEE 1394a
Theory and Practice of Projective Rectification
International Journal of Computer Vision
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
On the Epipolar Geometry Between Two Images with Lens Distortion
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
Efficient and high performance FPGA-based rectification architecture for stereo vision
Microprocessors & Microsystems
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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.