System and method for computing rectifying homographies for stereo vision processing of three dimensional objects
AssigneeMicrosoft Corporation
InventorsZhengyou Zhang, Charles T. Loop
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Abstract
The present invention is embodied in a system and method for computing rectifying homographies for stereo vision processing of three dimensional (3D) objects. In general, the system and method of the present invention computes 2D projective transforms or homographies derived from specialized projective and affine transforms or components. The affine transform is comprised of a similarity transform and an optional shearing transform for image rectification. During image rectification of the present invention, optimization techniques are used for reducing the distortion.
Claims36
A method for computing rectifying homographies of images of an object comprising:
- computing a special projective transform for each image that minimizes a well defined projective distortion criteria;
- computing a similarity transform that satisfies predefined constraints for rectification;
- and
- combining the special projective transform with the similarity transform into a rectifying homography.
A rectification system for processing two-dimensional images of a three-dimensional object comprising:
- a homographical processor that computes a special projective transform of the images comprised of isolated projective characteristics and a similarity transform that satisfies predefined constraints for rectification;
- and
- a geometrical processor that combines the special projective and similarity transforms into a rectifying homography.
A computer-readable storage device encoded with a set of instructions for rectifying images, the set of instructions comprising:
- isolating projective characteristics of the images defined by a special projective transform;
- obtaining at least one an affine component defined by a similarity transform that satisfies predefined constraints for rectification;
- and
- combining the transforms into a rectifying homography.
Dependencies are inferred from the claim text.