Fast Dense Panoramic Stereovision

The particular geometry of panoramic cameras defines complex epipolar lines equations. In this paper, we present a way to warp images from a panoramic stereovision bench, so that the epipolar lines become parallel straight lines, thus allowing the use of an optimized fast pixel correlation based stereovision algorithm. The paper first introduces the geometric characterization of panoramic camera composed of parabolic and spherical mirrors, that computes both the intrinsic parameters of the system (mirror surfaces and intrinsic camera parameters) and the errors alignment between the mirrors. Then, it presents the warping equations that allow to generate rectified images. Calibration and stereovision results are presented.