Rectification apparatus of stereo vision system and method thereof

A rectification method of a stereo vision system performed by a stereo vision system comprising the steps of:

• preprocessing for performing rectification for left and right images acquired from stereo cameras:
• distinguishing variables and parameters preset in a determinant configured with parameters of the stereo cameras and rectification parameters for axial movement of the rectification, and converting the determinant into a linear function by substituting constant parameters for the parameters preset in the determinant;
• storing left and right images transmitted from the stereo cameras;
• sequentially performing a coordinate operation as a cumulative operation for each pixel by using the linear function in a direction of increasing a column or a direction of increasing a row with respect to rectified image plane coordinates;
• calculating a weight and coordinates of a camera image plane for linear interpolation of a pixel value in the coordinates corresponding to a resulting value of the coordinate operation;
• and
• linearly interpolating the pixel value by using the calculated weight and coordinates of the camera image plane, and then mapping the pixel value to the coordinates of the rectified image plane.