3D Reconstruction and Mapping from Stereo Pairs with Geometrical Rectification

In this paper a new method for reconstructing 3D scenes from stereo images is presented, as well as an algorithm for environment mapping, as an application of the previous method. In the reconstruction process a geometrical rectification filter is used to remove the conical perspective of the images. It is essential to recover the geometry of the scene (with real data of depth and volume) and to achieve a realistic appearance in 3D reconstructions. It also uses sub-pixel precision to solve the lack of information for distant objects. Finally, the method is applied to a mapping algorithm in order to show its usefulness.

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