Spherical Rectification Based Stereo Vision Applied to Hybrid Dual Camera Vision Systems

Spherical reprojection was introduced in omnidirectional vi- sion mainly to simplify the projection model for single-viewpoint cata- dioptric sensors. It was then extended to omni-stereo systems to per- form 3D information recovery and disparity map estimation. Although the same rectification technique has already been exploited also to the classical stereo-vision problem, no one has described its natural appli- cation to Hybrid Dual Camera Systems yet. This is what we are going to highlight in this paper by presenting all the geometrical relationships characterizing such systems. A critical assessment of some practical re- sults is also reported in the last section.

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