An efficient rectification method for trinocular stereovision

This work presents an efficient and intuitive algorithm of the epipolar line rectification to trinocular stereo pairs with triangular configuration of the cameras. Given the perspective projection matrices of each camera, the transformation matrices are computed by determining the new camera coordinate system in affine space and imposing some constraints on the remaining degrees of freedom. The proposed method is able to make matching points lie on the identical row or column on the three images in affine coordinates.

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