Projective Rectification Of Image Triplets From The Fundamental Matrix

This paper describes a method for image rectification of a trinocular setup. The rectification method used is an extension of a recent approach based on the fundamental matrix to generate the correcting homographies in the case of a stereo pair. The extended method uses the fact that the triplet of images can be treated as two pairs and that homographies are simply projections of the different images planes onto new planes. Rectification thus becomes a matter of deciding which plane is the common one and what transformation or homography is to be applied to each image