A simple and efficient rectification method for general motion

Pollefeys, Marc; Koch, Reinhard; Gool, Luc Van

doi:10.1109/iccv.1999.791262

Cited by 177 publications

(113 citation statements)

References 11 publications

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“…Some recent approaches have abandoned the limitations imposed by homographies and have resorted to more general warping functions [21,20]. Both approaches preserve distances along epipolar lines.…”

Section: Human Visionmentioning

confidence: 99%

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Iso-disparity Surfaces for General Stereo Configurations

Pollefeys¹,

Sinha²

2004

Lecture Notes in Computer Science

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Abstract. This paper discusses the iso-disparity surfaces for general stereo configurations. These are the surfaces that are observed at the same resolution along the epipolar lines in both images of a stereo pair. For stereo algorithms that include smoothness terms either implicitly through area-based correlation or explicitly by using penalty terms for neighboring pixels with dissimilar disparities these surfaces also represent the implicit hypothesis made during stereo matching. Although the shape of these surfaces is well known for the standard stereo case (i.e. fronto-parallel planes), surprisingly enough for two cameras in a general configuration to our knowledge their shape has not been studied. This is, however, very important since it represents the discretisation of stereo sampling in 3D space and represents absolute bounds on performance independent of later resampling. We prove that the intersections of these surfaces with an epipolar plane consists of a family of conics with three fixed points. There is an interesting relation to the human horopter and we show that for stereo the retinas act as if they were flat. Further we discuss the relevance of iso-disparity surfaces to image-pair rectification and active vision. In experiments we show how one can configure an active stereo head to align iso-disparity surfaces to scene structures of interest such as a vertical wall, allowing better and faster stereo results.

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Section: Human Visionmentioning

confidence: 99%

“…This process is called image-pair rectification. In the past many different approaches have been proposed [4,10,15,19,9,21,20]. All these approaches somehow try to minimize distortions.…”

Section: Human Visionmentioning

confidence: 99%

Iso-disparity Surfaces for General Stereo Configurations

Pollefeys¹,

Sinha²

2004

Lecture Notes in Computer Science

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“…With older graphics hardware, this warping can be approximated by using a tesselated triangular mesh. This type of approach would also allow to use more advanced non-linear rectification transformations that can be necessary if the epipoles are in (or close to) the images [23].…”

Section: Rectificationmentioning

confidence: 99%

A versatile stereo implementation on commodity graphics hardware

Yang

Pollefeys

2005

Real-Time Imaging

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“…This requires advanced rectification approaches such as polar rectification, which can deal with all possible stereo geometries. In case of the software SURE [36] which was used for the following investigations, the polar rectification proposed in [40] (Figure 8) is used. Implementation details and first results are described in [31].…”

Section: Matching Approaches and Configurationsmentioning

confidence: 99%

Cloud-Based Geospatial 3D Image Spaces—A Powerful Urban Model for the Smart City

Nebiker

Cavegn

Loesch

2015

IJGI

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Abstract:In this paper, we introduce the concept and an implementation of geospatial 3D image spaces as new type of native urban models. 3D image spaces are based on collections of georeferenced RGB-D imagery. This imagery is typically acquired using multi-view stereo mobile mapping systems capturing dense sequences of street level imagery. Ideally, image depth information is derived using dense image matching. This delivers a very dense depth representation and ensures the spatial and temporal coherence of radiometric and depth data. This results in a high-definition WYSIWYG ("what you see is what you get") urban model, which is intuitive to interpret and easy to interact with, and which provides powerful augmentation and 3D measuring capabilities. Furthermore, we present a scalable cloud-based framework for generating 3D image spaces of entire cities or states and a client architecture for their web-based exploitation. The model and the framework strongly support the smart city notion of efficiently connecting the urban environment and its processes with experts and citizens alike. In the paper we particularly investigate quality aspects of the urban model, namely the obtainable georeferencing accuracy and the quality of the depth map extraction. We show that our image-based georeferencing approach is capable of improving the original direct georeferencing accuracy by an order of magnitude and that the presented new multi-image matching approach is capable of providing high accuracies along with a significantly improved completeness of the depth maps.

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A simple and efficient rectification method for general motion

Cited by 177 publications

References 11 publications

Iso-disparity Surfaces for General Stereo Configurations

Iso-disparity Surfaces for General Stereo Configurations

A versatile stereo implementation on commodity graphics hardware

Cloud-Based Geospatial 3D Image Spaces—A Powerful Urban Model for the Smart City

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