Kauff P: Joint estimation of epipolar geometry and rectification parameters using point correspondences for stereoscopic TV sequences

An optimal stereo sequence needs to be rectified in or-der to avoid vertical disparities and similar image distor-tions. However, due to imperfect stereo rigs, vertical dis-parities occur mainly due to a mechanical misalignment of the cameras. Several rectification methods are known, most of them are based on a strong calibration. However, cali-bration data is often not provided, such that the rectification needs to be done based on point correspondences. In this paper, we propose a rectification technique which estimates the fundamental matrix jointly with the appropriate rectifi-cation parameters. The algorithm is designed for narrow baseline stereo rigs. The optical axes are almost parallel (beside a possible convergence angle). The rectification pa-rameters allow a pose estimation of one camera relative to the other one so that the mechanical alignment of the stereo rig can be improved. 1